Learning Task Priorities from Demonstrations

Bimanual operations in humanoids offer the possibility to carry out more than one manipulation task at the same time, which in turn introduces the problem of task prioritization. We address this problem from a learning from demonstration perspective, by extending the task-parameterized Gaussian mixture model to Jacobian and null space structures. The proposed approach is tested on bimanual skills but can be applied in any scenario where the prioritization between potentially conflicting tasks needs to be learned. We evaluate the proposed framework in: two different tasks with humanoids requiring the learning of priorities and a loco-manipulation scenario, showing that the approach can be exploited to learn the prioritization of multiple tasks in parallel.

[1]  Aaron Hertzmann,et al.  Prioritized optimization for task-space control , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[2]  Jun Nakanishi,et al.  Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors , 2013, Neural Computation.

[3]  Stefan Schaal,et al.  Robot Programming by Demonstration , 2009, Springer Handbook of Robotics.

[4]  Dongheui Lee,et al.  Prioritized Inverse Kinematics with Multiple Task Definitions , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[5]  Jörn Malzahn,et al.  WALK‐MAN: A High‐Performance Humanoid Platform for Realistic Environments , 2017, J. Field Robotics.

[6]  Carme Torras,et al.  Learning Physical Collaborative Robot Behaviors From Human Demonstrations , 2016, IEEE Transactions on Robotics.

[7]  Jörn Malzahn,et al.  Development of a human size and strength compliant bi-manual platform for realistic heavy manipulation tasks , 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[8]  Jan Peters,et al.  Probabilistic Prioritization of Movement Primitives , 2017, IEEE Robotics and Automation Letters.

[9]  Sethu Vijayakumar,et al.  Learning null space projections , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[10]  Sandra Hirche,et al.  Dynamic Movement Primitives for cooperative manipulation and synchronized motions , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[11]  Nikolaos G. Tsagarakis,et al.  Statistical dynamical systems for skills acquisition in humanoids , 2012, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012).

[12]  Chih-Yi Chiu,et al.  Content-based retrieval for human motion data , 2004, J. Vis. Commun. Image Represent..

[13]  Aude Billard,et al.  Encoding Bi-manual Coordination Patterns From Human Demonstrations , 2014, 2014 9th ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[14]  Oussama Khatib,et al.  A unified approach for motion and force control of robot manipulators: The operational space formulation , 1987, IEEE J. Robotics Autom..

[15]  Darwin G. Caldwell,et al.  An Approach for Imitation Learning on Riemannian Manifolds , 2017, IEEE Robotics and Automation Letters.

[16]  Olivier Sigaud,et al.  Variance modulated task prioritization in Whole-Body Control , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[17]  Aude Billard,et al.  Statistical Learning by Imitation of Competing Constraints in Joint Space and Task Space , 2009, Adv. Robotics.

[18]  Sylvain Calinon,et al.  A tutorial on task-parameterized movement learning and retrieval , 2016, Intell. Serv. Robotics.

[19]  Matteo Saveriano,et al.  Incremental kinesthetic teaching of end-effector and null-space motion primitives , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[20]  Olivier Sigaud,et al.  Multiple task optimization using dynamical movement primitives for whole-body reactive control , 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.

[21]  Oussama Khatib,et al.  Control of Free-Floating Humanoid Robots Through Task Prioritization , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[22]  G. Oriolo,et al.  Robotics: Modelling, Planning and Control , 2008 .

[23]  Ales Ude,et al.  Adaptation of bimanual assembly tasks using iterative learning framework , 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).

[24]  Stefan Schaal,et al.  Online movement adaptation based on previous sensor experiences , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[25]  Vincent Padois,et al.  Generalized hierarchical control , 2016, Auton. Robots.

[26]  Jochen J. Steil,et al.  Multiple task optimization with a mixture of controllers for motion generation , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[27]  Vincent Padois,et al.  Synthesis of complex humanoid whole-body behavior: A focus on sequencing and tasks transitions , 2011, 2011 IEEE International Conference on Robotics and Automation.

[28]  Oliver Kroemer,et al.  Learning Manipulation by Sequencing Motor Primitives with a Two-Armed Robot , 2014, IAS.

[29]  Darwin G. Caldwell,et al.  A task-parameterized probabilistic model with minimal intervention control , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[30]  Darwin G. Caldwell,et al.  Bimanual Skill Learning with Pose and Joint Space Constraints , 2018, 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids).

[31]  Nikos G. Tsagarakis,et al.  An attractor-based Whole-Body Motion Control (WBMC) system for humanoid robots , 2013, 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids).

[32]  Danica Kragic,et al.  Dual arm manipulation - A survey , 2012, Robotics Auton. Syst..

[33]  Sethu Vijayakumar,et al.  Learning nullspace policies , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[34]  Giuseppe Oriolo,et al.  Learning soft task priorities for control of redundant robots , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[35]  Nikolaos G. Tsagarakis,et al.  Upper-body impedance control with variable stiffness for a door opening task , 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.

[36]  Darwin G. Caldwell,et al.  Probabilistic Learning of Torque Controllers from Kinematic and Force Constraints , 2017, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[37]  Alexander Dietrich,et al.  On continuous null space projections for torque-based, hierarchical, multi-objective manipulation , 2012, 2012 IEEE International Conference on Robotics and Automation.

[38]  Andrej Gams,et al.  Coupling Movement Primitives: Interaction With the Environment and Bimanual Tasks , 2014, IEEE Transactions on Robotics.

[39]  Darwin G. Caldwell,et al.  Learning bimanual end-effector poses from demonstrations using task-parameterized dynamical systems , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[40]  Aaron D. Ames,et al.  Sufficient conditions for the Lipschitz continuity of QP-based multi-objective control of humanoid robots , 2013, 52nd IEEE Conference on Decision and Control.

[41]  Nikolaos G. Tsagarakis,et al.  COMpliant huMANoid COMAN: Optimal joint stiffness tuning for modal frequency control , 2013, 2013 IEEE International Conference on Robotics and Automation.

[42]  Jochen J. Steil,et al.  A user study on kinesthetic teaching of redundant robots in task and configuration space , 2013, HRI 2013.

[43]  Olivier Stasse,et al.  Reverse Control for Humanoid Robot Task Recognition , 2012, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[44]  Alexander Dietrich,et al.  Prioritized multi-task compliance control of redundant manipulators , 2015, Autom..

[45]  Jochen J. Steil,et al.  Continuously Shaping Projections and Operational Space Tasks , 2018, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[46]  Jonghoon Park,et al.  Multiple tasks kinematics using weighted pseudo-inverse for kinematically redundant manipulators , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).