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Temporal Segmentation of Pair-Wise Interaction Phases in Sequential Manipulation Demonstrations

Abstract : We consider the problem of learning from complex sequential demonstrations. We propose to analyze demonstrations in terms of the concurrent interaction phases which arise between pairs of involved bodies (hand-object and object-object). These interaction phases are the key to decompose a full demonstration into its atomic manipulation actions and to extract their respective consequences. In particular, one may assume that the goal of each interaction phase is to achieve specific geometric constraints between objects. This generalizes previous Learning from Demonstration approaches by considering not just the motion of the end-effector but also the relational properties of the objects' motion. We present a linear-chain Conditional Random Field model to detect the pair-wise interaction phases and extract the geometric constraints that are established in the environment, which represent a high-level task oriented description of the demonstrated manipulation. We test our system on single- and multi-agent demonstrations of assembly tasks, respectively of a wooden toolbox and a plastic chair.
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Contributor : Manuel Lopes Connect in order to contact the contributor
Submitted on : Wednesday, January 6, 2016 - 4:08:54 PM
Last modification on : Saturday, June 25, 2022 - 9:09:52 PM
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Andrea Baisero, Yoan Mollard, Manuel Lopes, Marc Toussaint, Ingo Lutkebohle. Temporal Segmentation of Pair-Wise Interaction Phases in Sequential Manipulation Demonstrations. Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, Sep 2015, Hamburg, Germany. ⟨10.1109/IROS.2015.7353415⟩. ⟨hal-01246455⟩



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