Insertion of pause in drawing from babbling for robot's developmental imitation learning
Insertion of pause in drawing from babbling for robot's developmental imitation learning
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DOI：
10.1109/icra.2014.6907559
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发表时间：
2014-09
期刊：
影响因子：
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通讯作者：
S. Nishide;Kei Mochizuki;HIroshi G. Okuno;T. Ogata
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文献类型：
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作者：
S. Nishide;Kei Mochizuki;HIroshi G. Okuno;T. Ogata
在本文中，我们提出了一种方法，以提高机器人的模仿性能，在绘图的情况下，插入暂停运动。人类的绘画技巧可以说经历了五个阶段：1）涂鸦，2）偶然现实主义，3）失败现实主义，4）智力现实主义，5）视觉现实主义。我们专注于创建系统的阶段1）和3），每个阶段分别对应于身体牙牙学语和模仿学习。对于阶段1），机器人随机移动其手臂以将机器人的手臂动力学与绘图结果相关联。假设机器人不知道自己的动态，机器人在这个阶段学习它的身体动态。对于阶段3），我们考虑机器人模仿人类绘画运动的场景。在创建系统时，我们专注于motionese现象，这是讨论通过人类亲子互动获得技能的关键因素之一。在动作语中，父母在教孩子一项技能时，会先把每一个动作精心地展示给孩子看。当孩子开始进步时，父母的行动就会简化。同样，在我们的场景中，人类将首先在绘图运动期间插入暂停，其中绘图方向改变（即角）。当机器人对绘画的模仿学习收敛时，人类会毫不停顿地转向绘画。实验结果表明，在绘画模仿场景中插入停顿，大大提高了机器人的绘画性能。
In this paper, we present a method to improve a robot's imitation performance in a drawing scenario by inserting pauses in motion. Human's drawing skills are said to develop through five stages: 1) Scribbling, 2) Fortuitous Realism, 3) Failed Realism, 4) Intellectual Realism, and 5) Visual Realism. We focus on stages 1) and 3) for creating our system, each corresponding to body babbling and imitation learning, respectively. For stage 1), the robot randomly moves its arm to associate robot's arm dynamics with the drawing result. Presuming that the robot has no knowledge about its own dynamics, the robot learns its body dynamics in this stage. For stage 3), we consider a scenario where a robot would imitate a human's drawing motion. Upon creating the system, we focus on the motionese phenomenon, which is one of the key factors for discussing acquisition of a skill through a human parent-child interaction. In motionese, the parent would first show each action elaborately to the child, when teaching a skill. As the child starts to improve, the parent's actions would be simplified. Likewise in our scenario, the human would first insert pauses during the drawing motions where the direction of drawing changes (i.e. corners). As the robot's imitation learning of drawing converges, the human would change to drawing without pauses. The experimental results show that insertion of pause in drawing imitation scenarios greatly improves the robot's drawing performance.