Learning to Put On a Knit Cap in a Head-Centric Policy Space

Twardon L, Ritter H (2018)
IEEE ROBOTICS AND AUTOMATION LETTERS 3(2): 764-771.

Zeitschriftenaufsatz | Veröffentlicht | Englisch
 
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Abstract / Bemerkung
Robotic manipulation of such highly deformable objects as clothes is a challenging problem. Robot-assisted dressing adds even more complexity as the garment motions must be aligned with a human body under conditions of strong and variable occlusion. As a step toward solutions for the general task, we consider the example of a dual-arm robot with attached anthropomorphic hands that learns to put a knit cap on a styrofoam head. Our approach avoids modeling the details of the garment and its deformations. Instead, we demonstrate that a head-centric policy parameterization, combined with a suitable objective function for determining the right amount of contact between the cap and the head, enables a direct policy search algorithm to find successful trajectories for this task. We also show how a toy problem that mirrors some of the task constraints can be used to efficiently structure hyperparameter search. Additionally, we suggest a point cloud based algorithm for modeling the head as an ellipsoid which is required for defining the policy space.
Stichworte
Learning and adaptive systems; RGB-D perception; human detection and; tracking
Erscheinungsjahr
2018
Zeitschriftentitel
IEEE ROBOTICS AND AUTOMATION LETTERS
Band
3
Ausgabe
2
Seite(n)
764-771
ISSN
2377-3766
Page URI
https://pub.uni-bielefeld.de/record/2917731

Zitieren

Twardon L, Ritter H. Learning to Put On a Knit Cap in a Head-Centric Policy Space. IEEE ROBOTICS AND AUTOMATION LETTERS. 2018;3(2):764-771.
Twardon, L., & Ritter, H. (2018). Learning to Put On a Knit Cap in a Head-Centric Policy Space. IEEE ROBOTICS AND AUTOMATION LETTERS, 3(2), 764-771. doi:10.1109/LRA.2018.2792153
Twardon, L., and Ritter, H. (2018). Learning to Put On a Knit Cap in a Head-Centric Policy Space. IEEE ROBOTICS AND AUTOMATION LETTERS 3, 764-771.
Twardon, L., & Ritter, H., 2018. Learning to Put On a Knit Cap in a Head-Centric Policy Space. IEEE ROBOTICS AND AUTOMATION LETTERS, 3(2), p 764-771.
L. Twardon and H. Ritter, “Learning to Put On a Knit Cap in a Head-Centric Policy Space”, IEEE ROBOTICS AND AUTOMATION LETTERS, vol. 3, 2018, pp. 764-771.
Twardon, L., Ritter, H.: Learning to Put On a Knit Cap in a Head-Centric Policy Space. IEEE ROBOTICS AND AUTOMATION LETTERS. 3, 764-771 (2018).
Twardon, Lukas, and Ritter, Helge. “Learning to Put On a Knit Cap in a Head-Centric Policy Space”. IEEE ROBOTICS AND AUTOMATION LETTERS 3.2 (2018): 764-771.
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2019-09-06T09:18:57Z
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OA Open Access
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2019-09-06T09:18:57Z
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