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

Andrea Baisero 1 Yoan Mollard 2 Manuel Lopes 2 Marc Toussaint 1 Ingo Lutkebohle 1
2 Flowers - Flowing Epigenetic Robots and Systems
Inria Bordeaux - Sud-Ouest, U2IS - Unité d'Informatique et d'Ingénierie des Systèmes
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.
Complete list of metadatas

Cited literature [22 references]  Display  Hide  Download

https://hal.inria.fr/hal-01246455
Contributor : Manuel Lopes <>
Submitted on : Wednesday, January 6, 2016 - 4:08:54 PM
Last modification on : Wednesday, July 3, 2019 - 10:48:04 AM
Long-term archiving on: Thursday, April 7, 2016 - 4:07:27 PM

File

paper.pdf
Files produced by the author(s)

Identifiers

Citation

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⟩

Share

Metrics

Record views

196

Files downloads

187