Learning Trajectory Distributions for Assisted Teleoperation and Path Planning

Marco Ewerton, Oleg Arenz, Guilherme Maeda, Dorothea Koert, Zlatko Kolev, Masaki Takahashi, Jan Peters

研究成果: Article査読

5 被引用数 (Scopus)

抄録

Several approaches have been proposed to assist humans in co-manipulation and teleoperation tasks given demonstrated trajectories. However, these approaches are not applicable when the demonstrations are suboptimal or when the generalization capabilities of the learned models cannot cope with the changes in the environment. Nevertheless, in real co-manipulation and teleoperation tasks, the original demonstrations will often be suboptimal and a learning system must be able to cope with new situations. This paper presents a reinforcement learning algorithm that can be applied to such problems. The proposed algorithm is initialized with a probability distribution of demonstrated trajectories and is based on the concept of relevance functions. We show in this paper how the relevance of trajectory parameters to optimization objectives is connected with the concept of Pearson correlation. First, we demonstrate the efficacy of our algorithm by addressing the assisted teleoperation of an object in a static virtual environment. Afterward, we extend this algorithm to deal with dynamic environments by utilizing Gaussian Process regression. The full framework is applied to make a point particle and a 7-DoF robot arm autonomously adapt their movements to changes in the environment as well as to assist the teleoperation of a 7-DoF robot arm in a dynamic environment.

本文言語English
論文番号89
ジャーナルFrontiers in Robotics and AI
6
DOI
出版ステータスPublished - 2019 9月 24

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • 人工知能

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