Robotics Institute: Imitation Learning for Locomotion and Manipulation

Imitation Learning for Locomotion and Manipulation

Nathan Ratliff, J. Andrew (Drew) Bagnell, and Siddhartha Srinivasa
tech. report CMU-RI-TR-07-45, Robotics Institute, Carnegie Mellon University, December, 2007

Download

Adobe portable document format (pdf) (2MB)

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

Decision making in robotics often involves computing an optimal action for a given state, where the space of actions under consideration can potentially be large and state dependent. Many of these decision making problems can be naturally formalized in the multiclass classification framework, where actions are regarded as labels for states. One powerful approach to multiclass classification relies on learning a function that scores each action; action selection is done by returning the action with maximum score. In this work, we focus on two imitation learning problems in particular that arise in robotics. The first problem is footstep prediction for quadruped locomotion, in which the system predicts next footstep locations greedily given the current four-foot configuration of the robot over a terrain height map. The second problem is grasp prediction, in which the system must predict good grasps of complex free-form objects given an approach direction for a robotic hand. We present experimental results of applying a recently developed functional gradient technique for optimizing a structured margin formulation of the corresponding large non-linear multiclass classification problems.

Notes

Associated Center(s) / Consortia: Quality of Life Technology Center and Center for the Foundations of Robotics

Associated Lab(s) / Group(s): Planning and Autonomy Lab

Associated Project(s): Learning Locomotion and Active Home/Personal Robotics

Text Reference

Nathan Ratliff, J. Andrew (Drew) Bagnell, and Siddhartha Srinivasa, "Imitation Learning for Locomotion and Manipulation," tech. report CMU-RI-TR-07-45, Robotics Institute, Carnegie Mellon University, December, 2007

BibTeX Reference

@techreport{Ratliff_2007_5940,
   author = "Nathan Ratliff and J. Andrew (Drew) Bagnell and Siddhartha Srinivasa",
   title = "Imitation Learning for Locomotion and Manipulation",
   institution = "Robotics Institute",
   month = "December",
   year = "2007",
   number= "CMU-RI-TR-07-45",
   address= "Pittsburgh, PA",
}

The Robotics Institute

Menu