Abstract
| Original language | English |
|---|---|
| Journal | IEEE Transactions on Systems, Man, and Cybernetics: Systems |
| Volume | 48 |
| Issue number | 5 |
| Pages (from-to) | 670-692 |
| ISSN | 1083-4427 |
| DOIs | |
| Publication status | Published - 1. May 2018 |
Keywords
- Benchmark testing
- Context
- Planning
- Robot sensing systems
- Semantics
- Trajectory
- Learning by demonstration (LbD)
- object recognition
- robotic assembly
- vision
Cite this
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Teaching a Robot the Semantics of Assembly Tasks. / Savarimuthu, T. R.; Buch, A. G.; Schlette, C.; Wantia, N.; Roßmann, Jürgen ; Martinez, D.; Alenya, G.; Torras, C.; Ude, Ales; Nemec, Bojan; Kramberger, Aljaz; Worgotter, Florentin; Aksoy, Eren Erdal; Papon, Jérémie; Haller, Simon; Piater, J.; Kruger, N.
In: IEEE Transactions on Systems, Man, and Cybernetics: Systems, Vol. 48, No. 5, 01.05.2018, p. 670-692.Research output: Contribution to journal › Journal article › Research › peer-review
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
VL - 48
SP - 670
EP - 692
JO - I E E E Transactions on Systems, Man and Cybernetics, Part A: Systems & Humans
JF - I E E E Transactions on Systems, Man and Cybernetics, Part A: Systems & Humans
SN - 1083-4427
IS - 5
ER -