NDLI: Unsupervised learning of multi-hypothesized pick-and-place task templates via crowdsourcing

Content Provider	IEEE Xplore Digital Library
Author	Toris, R. Kent, D. Chernova, S.
Copyright Year	2015
Description	Author affiliation: Dept. of Comput. Sci., Worcester Polytech. Inst., Worcester, MA, USA (Toris, R.; Kent, D.; Chernova, S.)
Abstract	In order for robots to be useful in real world learning scenarios, non-expert human teachers must be able to interact with and teach robots in an intuitive manner. One essential robot capability is wide-area (mobile or nonstationary) pick-and-place tasks. Even in its simplest form, pick-and-place is a hard problem due to uncertainty arising from noisy input demonstrations and non-deterministic real world environments. This work introduces a novel method for goal-based learning from demonstration where we learn over a large corpus of human demonstrated ground truths of placement locations in an unsupervised manner via Gaussian Mixture Models. The goal is to provide a multi-hypothesis solution for a given task description which can later be utilized in the execution of the task itself. In addition to learning the actual arrangements of the items in question, we also autonomously extract which frames of reference are important in each demonstration. We further verify these findings in a subsequent evaluation and execution via a mobile manipulator.
Starting Page	4504
Ending Page	4510
File Size	1849009
Page Count	7
File Format	PDF
e-ISBN	9781479969234
DOI	10.1109/ICRA.2015.7139823
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Data models Training Data collection Semantics Noise Unsupervised learning
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
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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