IDEAS home Printed from https://ideas.repec.org/a/hin/complx/5262859.html
   My bibliography  Save this article

Learning Force-Relevant Skills from Human Demonstration

Author

Listed:
  • Xiao Gao
  • Jie Ling
  • Xiaohui Xiao
  • Miao Li

Abstract

Many human manipulation skills are force relevant, such as opening a bottle cap and assembling furniture. However, it is still a difficult task to endow a robot with these skills, which largely is due to the complexity of the representation and planning of these skills. This paper presents a learning-based approach of transferring force-relevant skills from human demonstration to a robot. First, the force-relevant skill is encapsulated as a statistical model where the key parameters are learned from the demonstrated data (motion, force). Second, based on the learned skill model, a task planner is devised which specifies the motion and/or the force profile for a given manipulation task. Finally, the learned skill model is further integrated with an adaptive controller that offers task-consistent force adaptation during online executions. The effectiveness of the proposed approach is validated with two experiments, i.e., an object polishing task and a peg-in-hole assembly.

Suggested Citation

  • Xiao Gao & Jie Ling & Xiaohui Xiao & Miao Li, 2019. "Learning Force-Relevant Skills from Human Demonstration," Complexity, Hindawi, vol. 2019, pages 1-11, February.
    • Handle: RePEc:hin:complx:5262859
    DOI: 10.1155/2019/5262859
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/8503/2019/5262859.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/8503/2019/5262859.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2019/5262859?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    References listed on IDEAS

    as
    1. Volodymyr Mnih & Koray Kavukcuoglu & David Silver & Andrei A. Rusu & Joel Veness & Marc G. Bellemare & Alex Graves & Martin Riedmiller & Andreas K. Fidjeland & Georg Ostrovski & Stig Petersen & Charle, 2015. "Human-level control through deep reinforcement learning," Nature, Nature, vol. 518(7540), pages 529-533, February.
    Full references (including those not matched with items on IDEAS)

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Tulika Saha & Sriparna Saha & Pushpak Bhattacharyya, 2020. "Towards sentiment aided dialogue policy learning for multi-intent conversations using hierarchical reinforcement learning," PLOS ONE, Public Library of Science, vol. 15(7), pages 1-28, July.
    2. Mahmoud Mahfouz & Angelos Filos & Cyrine Chtourou & Joshua Lockhart & Samuel Assefa & Manuela Veloso & Danilo Mandic & Tucker Balch, 2019. "On the Importance of Opponent Modeling in Auction Markets," Papers 1911.12816, arXiv.org.
    3. Woo Jae Byun & Bumkyu Choi & Seongmin Kim & Joohyun Jo, 2023. "Practical Application of Deep Reinforcement Learning to Optimal Trade Execution," FinTech, MDPI, vol. 2(3), pages 1-16, June.
    4. Lu, Yu & Xiang, Yue & Huang, Yuan & Yu, Bin & Weng, Liguo & Liu, Junyong, 2023. "Deep reinforcement learning based optimal scheduling of active distribution system considering distributed generation, energy storage and flexible load," Energy, Elsevier, vol. 271(C).
    5. Yuhong Wang & Lei Chen & Hong Zhou & Xu Zhou & Zongsheng Zheng & Qi Zeng & Li Jiang & Liang Lu, 2021. "Flexible Transmission Network Expansion Planning Based on DQN Algorithm," Energies, MDPI, vol. 14(7), pages 1-21, April.
    6. Michelle M. LaMar, 2018. "Markov Decision Process Measurement Model," Psychometrika, Springer;The Psychometric Society, vol. 83(1), pages 67-88, March.
    7. Yang, Ting & Zhao, Liyuan & Li, Wei & Zomaya, Albert Y., 2021. "Dynamic energy dispatch strategy for integrated energy system based on improved deep reinforcement learning," Energy, Elsevier, vol. 235(C).
    8. Wang, Yi & Qiu, Dawei & Sun, Mingyang & Strbac, Goran & Gao, Zhiwei, 2023. "Secure energy management of multi-energy microgrid: A physical-informed safe reinforcement learning approach," Applied Energy, Elsevier, vol. 335(C).
    9. Neha Soni & Enakshi Khular Sharma & Narotam Singh & Amita Kapoor, 2019. "Impact of Artificial Intelligence on Businesses: from Research, Innovation, Market Deployment to Future Shifts in Business Models," Papers 1905.02092, arXiv.org.
    10. Ande Chang & Yuting Ji & Chunguang Wang & Yiming Bie, 2024. "CVDMARL: A Communication-Enhanced Value Decomposition Multi-Agent Reinforcement Learning Traffic Signal Control Method," Sustainability, MDPI, vol. 16(5), pages 1-17, March.
    11. Sun, Hongchang & Niu, Yanlei & Li, Chengdong & Zhou, Changgeng & Zhai, Wenwen & Chen, Zhe & Wu, Hao & Niu, Lanqiang, 2022. "Energy consumption optimization of building air conditioning system via combining the parallel temporal convolutional neural network and adaptive opposition-learning chimp algorithm," Energy, Elsevier, vol. 259(C).
    12. Zhang, Yang & Yang, Qingyu & Li, Donghe & An, Dou, 2022. "A reinforcement and imitation learning method for pricing strategy of electricity retailer with customers’ flexibility," Applied Energy, Elsevier, vol. 323(C).
    13. He, Jing & Liu, Xinglu & Duan, Qiyao & Chan, Wai Kin (Victor) & Qi, Mingyao, 2023. "Reinforcement learning for multi-item retrieval in the puzzle-based storage system," European Journal of Operational Research, Elsevier, vol. 305(2), pages 820-837.
    14. Holger Mohr & Katharina Zwosta & Dimitrije Markovic & Sebastian Bitzer & Uta Wolfensteller & Hannes Ruge, 2018. "Deterministic response strategies in a trial-and-error learning task," PLOS Computational Biology, Public Library of Science, vol. 14(11), pages 1-19, November.
    15. Zhang, Tianhao & Dong, Zhe & Huang, Xiaojin, 2024. "Multi-objective optimization of thermal power and outlet steam temperature for a nuclear steam supply system with deep reinforcement learning," Energy, Elsevier, vol. 286(C).
    16. Taejong Joo & Hyunyoung Jun & Dongmin Shin, 2022. "Task Allocation in Human–Machine Manufacturing Systems Using Deep Reinforcement Learning," Sustainability, MDPI, vol. 14(4), pages 1-18, February.
    17. Sebastian Jaimungal, 2022. "Reinforcement learning and stochastic optimisation," Finance and Stochastics, Springer, vol. 26(1), pages 103-129, January.
    18. Emmanuel Gnabeyeu & Omar Karkar & Imad Idboufous, 2024. "Solving The Dynamic Volatility Fitting Problem: A Deep Reinforcement Learning Approach," Papers 2410.11789, arXiv.org.
    19. Timotei Lala & Darius-Pavel Chirla & Mircea-Bogdan Radac, 2021. "Model Reference Tracking Control Solutions for a Visual Servo System Based on a Virtual State from Unknown Dynamics," Energies, MDPI, vol. 15(1), pages 1-25, December.
    20. Oleh Lukianykhin & Tetiana Bogodorova, 2021. "Voltage Control-Based Ancillary Service Using Deep Reinforcement Learning," Energies, MDPI, vol. 14(8), pages 1-22, April.

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:complx:5262859. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.