Visualization and simulation of sensory events as a representation of states for state-based teaching by demonstration in VR
Visualization and simulation of sensory events as a representation of states for state-based teaching by demonstration in VR
复制标题
感官事件的可视化和模拟作为状态的表示，通过 VR 演示进行基于状态的教学
DOI：
10.1109/iros.2005.1545063
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
T. Suehiro
中科院分区：
文献类型：
--
作者：
H. Onda;K. Kitagaki;T. Suehiro
“示教”是一种生成机器人程序的方法，该程序使机器人执行与人类操作员演示的任务相同的任务。我们已经开发了一个“教学演示VR”系统（TbDinVR），自动生成一个机器人程序，在真实的世界中工作后，一个任务是由操作员在虚拟世界中演示。在本文中，我们已经解释了必要和充分条件的任务描述中的状态，使用基于状态的TbDinVR系统的优点，和一个模拟器，用于确定参数的技能原语，通过在VR传感器模拟和随机搜索技术的详细说明。我们已经展示了实验结果和该结果的可视化。
"Teaching by demonstration" is a method to generate a robot program that makes a robot do the same task as the task that a human operator demonstrates. We have developed a "teaching by demonstration in VR" system (TbDinVR) which automatically generates a robot program to work in the real world after a task is demonstrated by an operator in the virtual world. In this paper, we have explained necessary and sufficient condition for states in a task description, advantages of using state-based TbDinVR system, and a simulator for determining parameters of skill primitives by using sensor simulation in VR and a random search technique in detail. We have shown an experimental result and visualization of that result.