WEKO3
アイテム
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 |
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10335939.pdf (3.0 MB)
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| アイテムタイプ | 学術雑誌論文 = Journal Article(1) | |||||||||||||
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| 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 | ||||||||||||||
| タイトル | Data-efficient Learning of Robotic Clothing Assistance using Bayesian Gaussian Process Latent Variable Models | |||||||||||||
| 言語 | en | |||||||||||||
| 言語 | ||||||||||||||
| 言語 | eng | |||||||||||||
| 著者 |
Koganti, Nishanth
× Koganti, Nishanth× 柴田, 智広
WEKO
27592
× Tamei, Tomoya× Ikeda, Kazushi |
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| 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 |
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| 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 | ||||||||||||||
| URL | https://hyokadb02.jimu.kyutech.ac.jp/html/100000703_ja.html | |||||||||||||
| 論文ID（連携） | ||||||||||||||
| 値 | 10335939 | |||||||||||||
| 連携ID | ||||||||||||||
| 値 | 8234 | |||||||||||||
