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arXiv 2410.08848cs.RO

基于可供性区域和人类演示的空间双臂动作模型学习

Learning Spatial Bimanual Action Models Based on Affordance Regions and Human Demonstrations

Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院）

Björn S. Plonka, Christian Dreher, Andre Meixner, Rainer Kartmann, Tamim Asfour

备注：
8 pages, accepted for publication at Humanoids 2024 - Copyright IEEE
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AI总结：

本文提出通过提取可供性区域间的空间约束从人类演示中学习双臂操作动作，构建空间双臂动作模型并利用优化算法确定多关键点最优物体配置，在倒饮料和擀面团任务中验证了三种可供性约束定义的有效性。

摘要：

本文提出了一种通过提取所涉及物体的可供性区域（affordance regions，即向智能体提供交互可能性的物体部分）之间的空间约束（称为可供性约束，affordance constraints），从人类演示中学习双臂操作动作的新方法。例如，瓶底可供物体被放置在表面上，而瓶口可供内部液体被倒出。我们提出了一种学习人类演示中可供性约束变化的新方法，以构建表示物体交互的空间双臂动作模型。为利用这些空间双臂动作模型中编码的信息，我们构建了一个优化问题，在考虑初始场景、学习到的可供性约束和机器人运动学的同时，确定多个执行关键点上的最优物体配置。我们在仿真中通过两个示例任务（倒饮料和擀面团）评估了该方法，并比较了可供性约束的三种不同定义：(i) 笛卡尔空间中可供性区域之间的分量距离，(ii) 圆柱空间中可供性区域之间的分量距离，以及(iii) 手动定义的符号空间可供ance约束的满足程度。

英文摘要：

In this paper, we present a novel approach for learning bimanual manipulation actions from human demonstration by extracting spatial constraints between affordance regions, termed affordance constraints, of the objects involved. Affordance regions are defined as object parts that provide interaction possibilities to an agent. For example, the bottom of a bottle affords the object to be placed on a surface, while its spout affords the contained liquid to be poured. We propose a novel approach to learn changes of affordance constraints in human demonstration to construct spatial bimanual action models representing object interactions. To exploit the information encoded in these spatial bimanual action models, we formulate an optimization problem to determine optimal object configurations across multiple execution keypoints while taking into account the initial scene, the learned affordance constraints, and the robot's kinematics. We evaluate the approach in simulation with two example tasks (pouring drinks and rolling dough) and compare three different definitions of affordance constraints: (i) component-wise distances between affordance regions in Cartesian space, (ii) component-wise distances between affordance regions in cylindrical space, and (iii) degrees of satisfaction of manually defined symbolic spatial affordance constraints.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。

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