A Learning-based Shared Control Architecture for Interactive Task Execution

Firas Abi-Farraj 1 Takayuki Osa 2 Nicolò Pedemonte 1 Jan Peters 2 Gerhard Neumann 2 Paolo Robuffo Giordano 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA_D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
2 TU Darmstadt - Technische Universität Darmstadt
Abstract : Shared control is a key technology for various robotic applications in which a robotic system and a human operator are meant to collaborate efficiently. In order to achieve efficient task execution in shared control, it is essential to predict the desired behavior for a given situation or context in order to simplify the control task for the human operator. This prediction is obtained by exploiting Learning from Demonstration (LfD), which is a popular approach for transferring human skills to robots. We encode the demonstrated behavior as trajectory distributions and generalize the learned distributions to new situations. The goal of this paper is to present a shared control framework that uses learned expert distributions to gain more autonomy. Our approach controls the balance between the controller's autonomy and the human preference based on the distributions of the demonstrated trajectories. Moreover, the learned distributions are autonomously refined from col-laborative task executions, resulting in a master-slave system with increasing autonomy that requires less user input with an increasing number of task executions. We experimentally validated that our shared control approach enables efficient task executions. Moreover, the conducted experiments demonstrated that the developed system improves its performances through interactive task executions with our shared control.
Type de document :
Communication dans un congrès
IEEE Int. Conf. on Robotics and Automation, ICRA'17, May 2017, Singapore, Singapore
Liste complète des métadonnées

Littérature citée [29 références]  Voir  Masquer  Télécharger
https://hal.inria.fr/hal-01482137
Contributeur : Eric Marchand <>
Soumis le : vendredi 3 mars 2017 - 11:51:34
Dernière modification le : mercredi 16 mai 2018 - 11:24:14
Document(s) archivé(s) le : mardi 6 juin 2017 - 12:59:43

Fichier

learning-based-shared.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01482137, version 1

Collections

INRIA | IRISA | UR1-UFR-ISTIC | INRIA2017 | UNIV-RENNES

Citation

Firas Abi-Farraj, Takayuki Osa, Nicolò Pedemonte, Jan Peters, Gerhard Neumann, et al.. A Learning-based Shared Control Architecture for Interactive Task Execution. IEEE Int. Conf. on Robotics and Automation, ICRA'17, May 2017, Singapore, Singapore. 〈hal-01482137〉

Exporter

BibTeX TEI DC DCterms EndNote

Partager

Métriques

Consultations de la notice

681

Téléchargements de fichiers

317

Contact


archive-ouverte@inria.fr