The BesMan Learning Platform for Automated Robot Skill Learning
We describe the BesMan learning platform which allows learning robotic manipulation behavior. It is a stand-alone solution which can be combined with different robotic systems and applications. Behavior that is adaptive to task changes and different target platforms can be learned to solve unforesee...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2018-05-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/article/10.3389/frobt.2018.00043/full |
| _version_ | 1811261700237688832 |
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| author | Lisa Gutzeit Alexander Fabisch Marc Otto Jan Hendrik Metzen Jonas Hansen Frank Kirchner Frank Kirchner Elsa Andrea Kirchner Elsa Andrea Kirchner |
| author_facet | Lisa Gutzeit Alexander Fabisch Marc Otto Jan Hendrik Metzen Jonas Hansen Frank Kirchner Frank Kirchner Elsa Andrea Kirchner Elsa Andrea Kirchner |
| author_sort | Lisa Gutzeit |
| collection | DOAJ |
| description | We describe the BesMan learning platform which allows learning robotic manipulation behavior. It is a stand-alone solution which can be combined with different robotic systems and applications. Behavior that is adaptive to task changes and different target platforms can be learned to solve unforeseen challenges and tasks, which can occur during deployment of a robot. The learning platform is composed of components that deal with preprocessing of human demonstrations, segmenting the demonstrated behavior into basic building blocks, imitation, refinement by means of reinforcement learning, and generalization to related tasks. The core components are evaluated in an empirical study with 10 participants with respect to automation level and time requirements. We show that most of the required steps for transferring skills from humans to robots can be automated and all steps can be performed in reasonable time allowing to apply the learning platform on demand. |
| first_indexed | 2024-04-12T19:10:19Z |
| format | Article |
| id | doaj.art-8e0a6d45bb934793adf231fdf5e1085e |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-04-12T19:10:19Z |
| publishDate | 2018-05-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-8e0a6d45bb934793adf231fdf5e1085e2022-12-22T03:19:54ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442018-05-01510.3389/frobt.2018.00043291464The BesMan Learning Platform for Automated Robot Skill LearningLisa GutzeitAlexander FabischMarc OttoJan Hendrik MetzenJonas HansenFrank KirchnerFrank KirchnerElsa Andrea KirchnerElsa Andrea KirchnerWe describe the BesMan learning platform which allows learning robotic manipulation behavior. It is a stand-alone solution which can be combined with different robotic systems and applications. Behavior that is adaptive to task changes and different target platforms can be learned to solve unforeseen challenges and tasks, which can occur during deployment of a robot. The learning platform is composed of components that deal with preprocessing of human demonstrations, segmenting the demonstrated behavior into basic building blocks, imitation, refinement by means of reinforcement learning, and generalization to related tasks. The core components are evaluated in an empirical study with 10 participants with respect to automation level and time requirements. We show that most of the required steps for transferring skills from humans to robots can be automated and all steps can be performed in reasonable time allowing to apply the learning platform on demand.https://www.frontiersin.org/article/10.3389/frobt.2018.00043/fullroboticsimitiation learningreinforcement learningmanipulationbehavior segmentation |
| spellingShingle | Lisa Gutzeit Alexander Fabisch Marc Otto Jan Hendrik Metzen Jonas Hansen Frank Kirchner Frank Kirchner Elsa Andrea Kirchner Elsa Andrea Kirchner The BesMan Learning Platform for Automated Robot Skill Learning Frontiers in Robotics and AI robotics imitiation learning reinforcement learning manipulation behavior segmentation |
| title | The BesMan Learning Platform for Automated Robot Skill Learning |
| title_full | The BesMan Learning Platform for Automated Robot Skill Learning |
| title_fullStr | The BesMan Learning Platform for Automated Robot Skill Learning |
| title_full_unstemmed | The BesMan Learning Platform for Automated Robot Skill Learning |
| title_short | The BesMan Learning Platform for Automated Robot Skill Learning |
| title_sort | besman learning platform for automated robot skill learning |
| topic | robotics imitiation learning reinforcement learning manipulation behavior segmentation |
| url | https://www.frontiersin.org/article/10.3389/frobt.2018.00043/full |
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