WEKO3
アイテム
{"_buckets": {"deposit": "8b10f931-bf73-499a-ae54-7019c613b42d"}, "_deposit": {"created_by": 3, "id": "6517", "owners": [3], "pid": {"revision_id": 0, "type": "depid", "value": "6517"}, "status": "published"}, "_oai": {"id": "oai:kyutech.repo.nii.ac.jp:00006517", "sets": ["24"]}, "author_link": ["27577", "27571", "27592", "27578", "27573", "27575", "27574"], "control_number": "6517", "item_21_biblio_info_6": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2019-04-26", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "15-16", "bibliographicPageEnd": "814", "bibliographicPageStart": "800", "bibliographicVolumeNumber": "33", "bibliographic_titles": [{"bibliographic_title": "Advanced Robotics"}]}]}, "item_21_description_4": {"attribute_name": "抄録", "attribute_value_mlt": [{"subitem_description": "Motor-skill learning for complex robotic tasks is a challenging problem due to the high task variability. Robotic clothing assistance is one such challenging problem that can greatly improve the quality-of-life for the elderly and disabled. In this study, we propose a data-efficient representation to encode task-specific motor-skills of the robot using Bayesian nonparametric latent variable models. The effectivity of the proposed motor-skill representation is demonstrated in two ways: (1) through a real-time controller that can be used as a tool for learning from demonstration to impart novel skills to the robot and (2) by demonstrating that policy search reinforcement learning in such a task-specific latent space outperforms learning in the high-dimensional joint configuration space of the robot. We implement our proposed framework in a practical setting with a dual-arm robot performing clothing assistance tasks.", "subitem_description_type": "Abstract"}]}, "item_21_description_60": {"attribute_name": "資源タイプ", "attribute_value_mlt": [{"subitem_description": "Journal Article", "subitem_description_type": "Other"}]}, "item_21_full_name_3": {"attribute_name": "著者別名", "attribute_value_mlt": [{"nameIdentifiers": [{"nameIdentifier": "27575", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Koganti, N.", "nameLang": "en"}]}, {"affiliations": [{"affiliationNames": [{"affiliationName": "", "lang": "ja"}], "nameIdentifiers": []}], "familyNames": [{"familyName": "Shibata", "familyNameLang": "en"}, {"familyName": "柴田", "familyNameLang": "ja"}, {"familyName": "シバタ", "familyNameLang": "ja-Kana"}], "givenNames": [{"givenName": "Tomohiro", "givenNameLang": "en"}, {"givenName": "智広", "givenNameLang": "ja"}, {"givenName": "トモヒロ", "givenNameLang": "ja-Kana"}], "nameIdentifiers": [{"nameIdentifier": "27592", "nameIdentifierScheme": "WEKO"}, {"nameIdentifier": "40359873", "nameIdentifierScheme": "e-Rad", "nameIdentifierURI": "https://nrid.nii.ac.jp/ja/nrid/1000040359873"}, {"nameIdentifier": "35460767600", "nameIdentifierScheme": "Scopus著者ID", "nameIdentifierURI": "https://www.scopus.com/authid/detail.uri?authorId=35460767600"}, {"nameIdentifier": "0000-0002-8766-4250", "nameIdentifierScheme": "ORCiD", "nameIdentifierURI": "https://orcid.org/0000-0002-8766-4250"}, {"nameIdentifier": "100000703", "nameIdentifierScheme": "九工大研究者情報", "nameIdentifierURI": "https://hyokadb02.jimu.kyutech.ac.jp/html/100000703_ja.html"}], "names": [{"name": "Shibata, Tomohiro", "nameLang": "en"}, {"name": "柴田, 智広", "nameLang": "ja"}, {"name": "シバタ, トモヒロ", "nameLang": "ja-Kana"}]}, {"nameIdentifiers": [{"nameIdentifier": "27577", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Tamei, T.", "nameLang": "en"}]}, {"nameIdentifiers": [{"nameIdentifier": "27578", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Ikeda, K.", "nameLang": "en"}]}]}, "item_21_link_62": {"attribute_name": "研究者情報", "attribute_value_mlt": [{"subitem_link_text": "https://hyokadb02.jimu.kyutech.ac.jp/html/100000703_ja.html", "subitem_link_url": "https://hyokadb02.jimu.kyutech.ac.jp/html/100000703_ja.html"}]}, "item_21_publisher_7": {"attribute_name": "出版者", "attribute_value_mlt": [{"subitem_publisher": "Taylor \u0026 Francis"}]}, "item_21_relation_12": {"attribute_name": "DOI", "attribute_value_mlt": [{"subitem_relation_type": "isVersionOf", "subitem_relation_type_id": {"subitem_relation_type_id_text": "https://doi.org/10.1080/01691864.2019.1610061", "subitem_relation_type_select": "DOI"}}]}, "item_21_rights_13": {"attribute_name": "権利", "attribute_value_mlt": [{"subitem_rights": "This is an Accepted Manuscript of an article published by Taylor \u0026 Francis in Advanced Robotics on 26 April, 2019, available online: https://www.tandfonline.com/doi/full/10.1080/01691864.2019.1610061."}]}, "item_21_select_59": {"attribute_name": "査読の有無", "attribute_value_mlt": [{"subitem_select_item": "yes"}]}, "item_21_source_id_8": {"attribute_name": "ISSN", "attribute_value_mlt": [{"subitem_source_identifier": "0169-1864", "subitem_source_identifier_type": "PISSN"}]}, "item_21_text_28": {"attribute_name": "論文ID(連携)", "attribute_value_mlt": [{"subitem_text_value": "10335939"}]}, "item_21_text_36": {"attribute_name": "著者所属", "attribute_value_mlt": [{"subitem_text_value": "Graduate School of Science and Technology, Nara Institute of Science and Technology, Japan"}, {"subitem_text_value": "Graduate School of Life Sciences and Systems Engineering, Kyushu Institute of Technology, Japan"}, {"subitem_text_value": "Mathematical and Data Science Center, Kobe University, Japan"}, {"subitem_text_value": "Graduate School of Science and Technology, Nara Institute of Science and Technology, Japan"}]}, "item_21_text_63": {"attribute_name": "連携ID", "attribute_value_mlt": [{"subitem_text_value": "8234"}]}, "item_21_version_type_58": {"attribute_name": "著者版フラグ", "attribute_value_mlt": [{"subitem_version_resource": "http://purl.org/coar/version/c_ab4af688f83e57aa", "subitem_version_type": "AM"}]}, "item_creator": {"attribute_name": "著者", "attribute_type": "creator", "attribute_value_mlt": [{"creatorNames": [{"creatorName": "Koganti, Nishanth", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "27571", "nameIdentifierScheme": "WEKO"}]}, {"creatorAffiliations": [{"affiliationNameIdentifiers": [], "affiliationNames": [{"affiliationName": "", "affiliationNameLang": "ja"}]}], "creatorNames": [{"creatorName": "Shibata, Tomohiro", "creatorNameLang": "en"}, {"creatorName": "柴田, 智広", "creatorNameLang": "ja"}, {"creatorName": "シバタ, トモヒロ", "creatorNameLang": "ja-Kana"}], "familyNames": [{"familyName": "Shibata", "familyNameLang": "en"}, {"familyName": "柴田", "familyNameLang": "ja"}, {"familyName": "シバタ", "familyNameLang": "ja-Kana"}], "givenNames": [{"givenName": "Tomohiro", "givenNameLang": "en"}, {"givenName": "智広", "givenNameLang": "ja"}, {"givenName": "トモヒロ", "givenNameLang": "ja-Kana"}], "nameIdentifiers": [{"nameIdentifier": "27592", "nameIdentifierScheme": "WEKO"}, {"nameIdentifier": "40359873", "nameIdentifierScheme": "e-Rad", "nameIdentifierURI": "https://nrid.nii.ac.jp/ja/nrid/1000040359873"}, {"nameIdentifier": "35460767600", "nameIdentifierScheme": "Scopus著者ID", "nameIdentifierURI": "https://www.scopus.com/authid/detail.uri?authorId=35460767600"}, {"nameIdentifier": "0000-0002-8766-4250", "nameIdentifierScheme": "ORCiD", "nameIdentifierURI": "https://orcid.org/0000-0002-8766-4250"}, {"nameIdentifier": "100000703", "nameIdentifierScheme": "九工大研究者情報", "nameIdentifierURI": "https://hyokadb02.jimu.kyutech.ac.jp/html/100000703_ja.html"}]}, {"creatorNames": [{"creatorName": "Tamei, Tomoya", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "27573", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Ikeda, Kazushi", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "27574", "nameIdentifierScheme": "WEKO"}]}]}, "item_files": {"attribute_name": "ファイル情報", "attribute_type": "file", "attribute_value_mlt": [{"accessrole": "open_date", "date": [{"dateType": "Available", "dateValue": "2020-04-30"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "10335939.pdf", "filesize": [{"value": "3.0 MB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_free", "mimetype": "application/pdf", "size": 3000000.0, "url": {"label": "10335939.pdf", "url": "https://kyutech.repo.nii.ac.jp/record/6517/files/10335939.pdf"}, "version_id": "55ec3262-ea5c-4f48-b110-003dedcb0b5c"}]}, "item_keyword": {"attribute_name": "キーワード", "attribute_value_mlt": [{"subitem_subject": "Clothing assistance", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Gaussian processes", "subitem_subject_scheme": "Other"}, {"subitem_subject": "latent variable models", "subitem_subject_scheme": "Other"}, {"subitem_subject": "policy search reinforcement learning", "subitem_subject_scheme": "Other"}, {"subitem_subject": "learning from demonstration", "subitem_subject_scheme": "Other"}]}, "item_language": {"attribute_name": "言語", "attribute_value_mlt": [{"subitem_language": "eng"}]}, "item_resource_type": {"attribute_name": "資源タイプ", "attribute_value_mlt": [{"resourcetype": "journal article", "resourceuri": "http://purl.org/coar/resource_type/c_6501"}]}, "item_title": "Data-efficient Learning of Robotic Clothing Assistance using Bayesian Gaussian Process Latent Variable Models", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "Data-efficient Learning of Robotic Clothing Assistance using Bayesian Gaussian Process Latent Variable Models", "subitem_title_language": "en"}]}, "item_type_id": "21", "owner": "3", "path": ["24"], "permalink_uri": "http://hdl.handle.net/10228/00007725", "pubdate": {"attribute_name": "PubDate", "attribute_value": "2020-04-30"}, "publish_date": "2020-04-30", "publish_status": "0", "recid": "6517", "relation": {}, "relation_version_is_last": true, "title": ["Data-efficient Learning of Robotic Clothing Assistance using Bayesian Gaussian Process Latent Variable Models"], "weko_shared_id": -1}
Data-efficient Learning of Robotic Clothing Assistance using Bayesian Gaussian Process Latent Variable Models
http://hdl.handle.net/10228/00007725
http://hdl.handle.net/10228/000077256d14a7c1-aa23-43f6-aae6-55e21cddb959
名前 / ファイル | ライセンス | アクション |
---|---|---|
10335939.pdf (3.0 MB)
|
|
Item type | 学術雑誌論文 = Journal Article(1) | |||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|
公開日 | 2020-04-30 | |||||||||||
資源タイプ | ||||||||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||
資源タイプ | journal article | |||||||||||
タイトル | ||||||||||||
言語 | en | |||||||||||
タイトル | Data-efficient Learning of Robotic Clothing Assistance using Bayesian Gaussian Process Latent Variable Models | |||||||||||
言語 | ||||||||||||
言語 | eng | |||||||||||
著者 |
Koganti, Nishanth
× Koganti, Nishanth× 柴田, 智広
WEKO
27592
× Tamei, Tomoya× Ikeda, Kazushi |
|||||||||||
抄録 | ||||||||||||
内容記述タイプ | Abstract | |||||||||||
内容記述 | Motor-skill learning for complex robotic tasks is a challenging problem due to the high task variability. Robotic clothing assistance is one such challenging problem that can greatly improve the quality-of-life for the elderly and disabled. In this study, we propose a data-efficient representation to encode task-specific motor-skills of the robot using Bayesian nonparametric latent variable models. The effectivity of the proposed motor-skill representation is demonstrated in two ways: (1) through a real-time controller that can be used as a tool for learning from demonstration to impart novel skills to the robot and (2) by demonstrating that policy search reinforcement learning in such a task-specific latent space outperforms learning in the high-dimensional joint configuration space of the robot. We implement our proposed framework in a practical setting with a dual-arm robot performing clothing assistance tasks. | |||||||||||
書誌情報 |
Advanced Robotics 巻 33, 号 15-16, p. 800-814, 発行日 2019-04-26 |
|||||||||||
出版社 | ||||||||||||
出版者 | Taylor & Francis | |||||||||||
DOI | ||||||||||||
関連タイプ | isVersionOf | |||||||||||
識別子タイプ | DOI | |||||||||||
関連識別子 | https://doi.org/10.1080/01691864.2019.1610061 | |||||||||||
ISSN | ||||||||||||
収録物識別子タイプ | PISSN | |||||||||||
収録物識別子 | 0169-1864 | |||||||||||
著作権関連情報 | ||||||||||||
権利情報 | This is an Accepted Manuscript of an article published by Taylor & Francis in Advanced Robotics on 26 April, 2019, available online: https://www.tandfonline.com/doi/full/10.1080/01691864.2019.1610061. | |||||||||||
キーワード | ||||||||||||
主題Scheme | Other | |||||||||||
主題 | Clothing assistance | |||||||||||
キーワード | ||||||||||||
主題Scheme | Other | |||||||||||
主題 | Gaussian processes | |||||||||||
キーワード | ||||||||||||
主題Scheme | Other | |||||||||||
主題 | latent variable models | |||||||||||
キーワード | ||||||||||||
主題Scheme | Other | |||||||||||
主題 | policy search reinforcement learning | |||||||||||
キーワード | ||||||||||||
主題Scheme | Other | |||||||||||
主題 | learning from demonstration | |||||||||||
出版タイプ | ||||||||||||
出版タイプ | AM | |||||||||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||||||||
査読の有無 | ||||||||||||
値 | yes | |||||||||||
研究者情報 | ||||||||||||
https://hyokadb02.jimu.kyutech.ac.jp/html/100000703_ja.html | ||||||||||||
論文ID(連携) | ||||||||||||
10335939 | ||||||||||||
連携ID | ||||||||||||
8234 | ||||||||||||
資料タイプ | ||||||||||||
内容記述タイプ | Other | |||||||||||
内容記述 | Journal Article | |||||||||||
著者別名 | ||||||||||||
姓名 | Koganti, N. | |||||||||||
言語 | en | |||||||||||
著者別名 | ||||||||||||
姓名 | Shibata, Tomohiro | |||||||||||
言語 | en | |||||||||||
姓名 | 柴田, 智広 | |||||||||||
言語 | ja | |||||||||||
姓名 | シバタ, トモヒロ | |||||||||||
言語 | ja-Kana | |||||||||||
著者別名 | ||||||||||||
姓名 | Tamei, T. | |||||||||||
言語 | en | |||||||||||
著者別名 | ||||||||||||
姓名 | Ikeda, K. | |||||||||||
言語 | en | |||||||||||
著者所属 | ||||||||||||
Graduate School of Science and Technology, Nara Institute of Science and Technology, Japan | ||||||||||||
著者所属 | ||||||||||||
Graduate School of Life Sciences and Systems Engineering, Kyushu Institute of Technology, Japan | ||||||||||||
著者所属 | ||||||||||||
Mathematical and Data Science Center, Kobe University, Japan | ||||||||||||
著者所属 | ||||||||||||
Graduate School of Science and Technology, Nara Institute of Science and Technology, Japan |