NDLI: A ROS-integrated architecture to learn manipulation tasks from a single demonstration

Content Provider	IEEE Xplore Digital Library
Author	Peppoloni, L. Di Fava, A. Ruffaldi, E. Avizzano, C.A.
Copyright Year	2014
Description	Author affiliation: PERCRO Lab., TeCIP Inst., Pisa, Italy (Peppoloni, L.; Di Fava, A.; Ruffaldi, E.; Avizzano, C.A.)
Abstract	In the robot programming by demonstration (PbD) framework, the high-level representation of a skill in a series of action units gives an intuitive method to program and instruct robot behaviors. In this context we present a ROS (Robot Operating System) integrated architecture for learning households manipulation tasks by one observation. The user is observed during the execution of everyday tasks, every action is analyzed and its effect is translated into changes in the environment state. During the observation a strip-like map of the task is built and stored as a sequence of actions. From the map obtained the task can be performed. A planner robustly adapts the execution both to different environment initial conditions and to possible faults, occurring during the operations. We test the capability of the chosen approach to autonomously learn and robustly perform complex tasks, such as setting up and clearing a table in a real kitchen-like environment.
Starting Page	537
Ending Page	542
File Size	445668
Page Count	6
File Format	PDF
ISBN	9781479967636
e-ISBN	9781479967650
DOI	10.1109/ROMAN.2014.6926308
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-25
Publisher Place	UK
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Silicon Glass Navigation Planning Trajectory Robot programming
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in