The Benefits of Teaching Robots using VR Demonstrations
The Benefits of Teaching Robots using VR Demonstrations
复制标题
使用 VR 演示教学机器人的好处
DOI：
10.1145/3173386.3176980
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
G. Sukthankar
中科院分区：
文献类型：
--
作者：
A. Jackson;Brandon D. Northcutt;G. Sukthankar
通过演示教学机器人的优点之一是，用户可以更直观地演示而不是描述所需的机器人行为。然而，当人类通过界面演示任务时，训练数据可能会无意中获取该界面特有的工件，而不是所需的任务执行。能够使用自己的身体通常会带来更自然的演示，但这些例子可能更难以转化为机器人控制策略。本文量化了使用虚拟现实系统的好处，该系统允许人类演示者使用自己的身体来执行复杂的操作任务。我们证明，我们的系统可以在不引入对应问题的情况下为深度神经网络生成出色的演示。通过将学习到的策略与通过 Sony Play Station~3 (PS3) DualShock 3 无线控制器收集的数据学习到的策略进行比较，验证了该方法的有效性。
One of the advantages of teaching robots by demonstration is that it can be more intuitive for users to demonstrate rather than describe the desired robot behavior. However, when the human demonstrates the task through an interface, the training data may inadvertently acquire artifacts unique to the interface, not the desired execution of the task. Being able to use one»s own body usually leads to more natural demonstrations, but those examples can be more difficult to translate to robot control policies. This paper quantifies the benefits of using a virtual reality system that allows human demonstrators to use their own body to perform complex manipulation tasks. We show that our system generates superior demonstrations for a deep neural network without introducing a correspondence problem. The effectiveness of this approach is validated by comparing the learned policy to that of a policy learned from data collected via a Sony Play Station~3 (PS3) DualShock 3 wireless controller.