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

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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.
Original languageEnglish
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Volume48
Issue number5
Pages (from-to)670-692
ISSN1083-4427
DOIs
Publication statusPublished - 1. May 2018

Keywords

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

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