Teaching a Robot the Semantics of Assembly Tasks

T. R. Savarimuthu; A. G. Buch; C. Schlette; N. Wantia; Jürgen  Roßmann; D. Martinez; G. Alenya; C. Torras; Ales Ude; Bojan Nemec; Aljaz Kramberger; Florentin Worgotter; Eren Erdal Aksoy; Jérémie Papon; Simon Haller; J. Piater; N. Kruger

doi:10.1109/TSMC.2016.2635479

Teaching a Robot the Semantics of Assembly Tasks

T. R. Savarimuthu, A. G. Buch, C. Schlette, N. Wantia, Jürgen Roßmann, D. Martinez, G. Alenya, C. Torras, Ales Ude, Bojan Nemec, Aljaz Kramberger, Florentin Worgotter, Eren Erdal Aksoy, Jérémie Papon, Simon Haller, J. Piater, N. Kruger

Publikation: Bidrag til tidsskrift › Tidsskriftartikel › Forskning › peer review

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Abstract

We present a three-level cognitive system in a learning by demonstration context. The system allows for learning and transfer on the sensorimotor level as well as the planning level. The fundamentally different data structures associated with these two levels are connected by an efficient mid-level representation based on so-called 'semantic event chains.' We describe details of the representations and quantify the effect of the associated learning procedures for each level under different amounts of noise. Moreover, we demonstrate the performance of the overall system by three demonstrations that have been performed at a project review. The described system has a technical readiness level (TRL) of 4, which in an ongoing follow-up project will be raised to TRL 6.

Originalsprog	Engelsk
Tidsskrift	IEEE Transactions on Systems, Man, and Cybernetics: Systems
Vol/bind	48
Udgave nummer	5
Sider (fra-til)	670-692
ISSN	2168-2216
DOI	https://doi.org/10.1109/TSMC.2016.2635479
Status	Udgivet - 1. maj 2018

Dokumenter og links

10.1109/TSMC.2016.2635479

Teaching a Robot the Semantics of Assembly TasksAccepteret manuskript, 1,36 MB

1 Afsluttet

ReconCell: A Reconfigurable robot workCell for fast set-up of automated assembly processes in SMEs
Krüger, N. (PI), Savarimuthu, T. R. (PI), Buch, A. G. (CoI), Schlette, C. (CoI) & Wiuf Schwartz, L. C. M. (CoI)
01/11/2015 → 31/10/2018
Projekter: Projekt › Forskning

Citationsformater

Savarimuthu, T. R., Buch, A. G., Schlette, C., Wantia, N., Roßmann, J., Martinez, D., Alenya, G., Torras, C., Ude, A., Nemec, B., Kramberger, A., Worgotter, F., Aksoy, E. E., Papon, J., Haller, S., Piater, J., & Kruger, N. (2018). Teaching a Robot the Semantics of Assembly Tasks. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 48(5), 670-692. https://doi.org/10.1109/TSMC.2016.2635479

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title = "Teaching a Robot the Semantics of Assembly Tasks",

abstract = "We present a three-level cognitive system in a learning by demonstration context. The system allows for learning and transfer on the sensorimotor level as well as the planning level. The fundamentally different data structures associated with these two levels are connected by an efficient mid-level representation based on so-called 'semantic event chains.' We describe details of the representations and quantify the effect of the associated learning procedures for each level under different amounts of noise. Moreover, we demonstrate the performance of the overall system by three demonstrations that have been performed at a project review. The described system has a technical readiness level (TRL) of 4, which in an ongoing follow-up project will be raised to TRL 6.",

keywords = "Benchmark testing, Context, Planning, Robot sensing systems, Semantics, Trajectory, Learning by demonstration (LbD), object recognition, robotic assembly, vision",

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Savarimuthu, TR, Buch, AG, Schlette, C, Wantia, N, Roßmann, J, Martinez, D, Alenya, G, Torras, C, Ude, A, Nemec, B, Kramberger, A, Worgotter, F, Aksoy, EE, Papon, J, Haller, S, Piater, J & Kruger, N 2018, 'Teaching a Robot the Semantics of Assembly Tasks', IEEE Transactions on Systems, Man, and Cybernetics: Systems, bind 48, nr. 5, s. 670-692. https://doi.org/10.1109/TSMC.2016.2635479

TY - JOUR

T1 - Teaching a Robot the Semantics of Assembly Tasks

AU - Savarimuthu, T. R.

AU - Buch, A. G.

AU - Schlette, C.

AU - Wantia, N.

AU - Roßmann, Jürgen

AU - Martinez, D.

AU - Alenya, G.

AU - Torras, C.

AU - Ude, Ales

AU - Nemec, Bojan

AU - Kramberger, Aljaz

AU - Worgotter, Florentin

AU - Aksoy, Eren Erdal

AU - Papon, Jérémie

AU - Haller, Simon

AU - Piater, J.

AU - Kruger, N.

PY - 2018/5/1

Y1 - 2018/5/1

N2 - We present a three-level cognitive system in a learning by demonstration context. The system allows for learning and transfer on the sensorimotor level as well as the planning level. The fundamentally different data structures associated with these two levels are connected by an efficient mid-level representation based on so-called 'semantic event chains.' We describe details of the representations and quantify the effect of the associated learning procedures for each level under different amounts of noise. Moreover, we demonstrate the performance of the overall system by three demonstrations that have been performed at a project review. The described system has a technical readiness level (TRL) of 4, which in an ongoing follow-up project will be raised to TRL 6.

AB - We present a three-level cognitive system in a learning by demonstration context. The system allows for learning and transfer on the sensorimotor level as well as the planning level. The fundamentally different data structures associated with these two levels are connected by an efficient mid-level representation based on so-called 'semantic event chains.' We describe details of the representations and quantify the effect of the associated learning procedures for each level under different amounts of noise. Moreover, we demonstrate the performance of the overall system by three demonstrations that have been performed at a project review. The described system has a technical readiness level (TRL) of 4, which in an ongoing follow-up project will be raised to TRL 6.

KW - Benchmark testing

KW - Context

KW - Planning

KW - Robot sensing systems

KW - Semantics

KW - Trajectory

KW - Learning by demonstration (LbD)

KW - object recognition

KW - robotic assembly

KW - vision

U2 - 10.1109/TSMC.2016.2635479

DO - 10.1109/TSMC.2016.2635479

M3 - Journal article

SN - 2168-2216

VL - 48

SP - 670

EP - 692

JO - IEEE Transactions on Systems, Man, and Cybernetics: Systems

JF - IEEE Transactions on Systems, Man, and Cybernetics: Systems

IS - 5

ER -

Teaching a Robot the Semantics of Assembly Tasks

Abstract

Dokumenter og links

Relaterede projekter

ReconCell: A Reconfigurable robot workCell for fast set-up of automated assembly processes in SMEs

Citationsformater