Open-source benchmarking for learned reaching motion generation in robotics

Lemme A, Meirovitch Y, Khansari-Zadeh SM, Flash T, Billard A, Steil JJ (2015)
Paladyn, Journal of Behavioral Robotics 6(1): 30-41.

Zeitschriftenaufsatz | Veröffentlicht | Englisch
 
Download
OA 725.33 KB
Autor*in
Lemme, AndreUniBi; Meirovitch, Yaron; Khansari-Zadeh, Seyed Mohammad; Flash, Tamar; Billard, Aude; Steil, Jochen J.UniBi
Abstract / Bemerkung
This paper introduces a benchmark frameworkto evaluate the performance of reaching motion genera-tion approaches that learn from demonstrated examples.The system implements ten different performance mea-sures for typical generalization tasks in robotics usingopen source MATLAB software. Systematic comparisonsare based on a default training data set of human mo-tions, which specify the respective ground truth. In techni-cal terms, an evaluated motion generation method needsto compute velocities, given a state provided by the simu-lation system. This however is agnostic to how this is doneby the method or how the methods learns from the pro-vided demonstrations. The framework focuses on robust-ness, which is tested statistically by sampling from a set ofperturbation scenarios. These perturbations interfere withmotion generation and challenge its generalization ability.The benchmark thus helps to identify the strengths andweaknesses of competing approaches, while allowing theuser the opportunity to configure the weightings betweendifferent measures.
Erscheinungsjahr
2015
Zeitschriftentitel
Paladyn, Journal of Behavioral Robotics
Band
6
Ausgabe
1
Seite(n)
30-41
eISSN
2081-4836
Page URI
https://pub.uni-bielefeld.de/record/2709756

Zitieren

Lemme A, Meirovitch Y, Khansari-Zadeh SM, Flash T, Billard A, Steil JJ. Open-source benchmarking for learned reaching motion generation in robotics. Paladyn, Journal of Behavioral Robotics. 2015;6(1):30-41.
Lemme, A., Meirovitch, Y., Khansari-Zadeh, S. M., Flash, T., Billard, A., & Steil, J. J. (2015). Open-source benchmarking for learned reaching motion generation in robotics. Paladyn, Journal of Behavioral Robotics, 6(1), 30-41. https://doi.org/10.1515/pjbr-2015-0002
Lemme, Andre, Meirovitch, Yaron, Khansari-Zadeh, Seyed Mohammad, Flash, Tamar, Billard, Aude, and Steil, Jochen J. 2015. “Open-source benchmarking for learned reaching motion generation in robotics”. Paladyn, Journal of Behavioral Robotics 6 (1): 30-41.
Lemme, A., Meirovitch, Y., Khansari-Zadeh, S. M., Flash, T., Billard, A., and Steil, J. J. (2015). Open-source benchmarking for learned reaching motion generation in robotics. Paladyn, Journal of Behavioral Robotics 6, 30-41.
Lemme, A., et al., 2015. Open-source benchmarking for learned reaching motion generation in robotics. Paladyn, Journal of Behavioral Robotics, 6(1), p 30-41.
A. Lemme, et al., “Open-source benchmarking for learned reaching motion generation in robotics”, Paladyn, Journal of Behavioral Robotics, vol. 6, 2015, pp. 30-41.
Lemme, A., Meirovitch, Y., Khansari-Zadeh, S.M., Flash, T., Billard, A., Steil, J.J.: Open-source benchmarking for learned reaching motion generation in robotics. Paladyn, Journal of Behavioral Robotics. 6, 30-41 (2015).
Lemme, Andre, Meirovitch, Yaron, Khansari-Zadeh, Seyed Mohammad, Flash, Tamar, Billard, Aude, and Steil, Jochen J. “Open-source benchmarking for learned reaching motion generation in robotics”. Paladyn, Journal of Behavioral Robotics 6.1 (2015): 30-41.
Alle Dateien verfügbar unter der/den folgenden Lizenz(en):
Creative Commons Namensnennung - Nicht-kommerziell - Keine Bearbeitung 3.0 Unported (CC BY-NC-ND 3.0):
Volltext(e)
Access Level
OA Open Access
Zuletzt Hochgeladen
2025-02-27T07:57:28Z
MD5 Prüfsumme
40a6ec169c70652066684395c7076c78


Material in PUB:
Zitiert
Multi-criteria benchmarking of movement generating dynamical systems for learning-from-demonstrations
Lemme A, Meirovitch Y, Khansari-Zadeh SM, Flash T, Billard A, Steil JJ (2014)
Bielefeld University.
Export

Markieren/ Markierung löschen
Markierte Publikationen

Open Data PUB

Suchen in

Google Scholar