kth.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Generating Scenarios from High-Level Specifications for Object Rearrangement Tasks
School of Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA.ORCID iD: 0000-0003-3729-157x
Delft University of Technology, Department of Cognitive Robotics, Delft, the Netherlands.ORCID iD: 0000-0001-7461-920X
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0002-2212-4325
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0003-4173-2593
Show others and affiliations
2023 (English)In: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023, Institute of Electrical and Electronics Engineers (IEEE) , 2023, p. 11420-11427Conference paper, Published paper (Refereed)
Abstract [en]

Rearranging objects is an essential skill for robots. To quickly teach robots new rearrangements tasks, we would like to generate training scenarios from high-level specifications that define the relative placement of objects for the task at hand. Ideally, to guide the robot's learning we also want to be able to rank these scenarios according to their difficulty. Prior work has shown how generating diverse scenario from specifications and providing the robot with easy-to-difficult samples can improve the learning. Yet, existing scenario generation methods typically cannot generate diverse scenarios while controlling their difficulty. We address this challenge by conditioning generative models on spatial logic specifications to generate spatially-structured scenarios that meet the specification and desired difficulty level. Our experiments showed that generative models are more effective and data-efficient than rejection sam-pling and that the spatially-structured scenarios can drastically improve training of downstream tasks by orders of magnitude.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2023. p. 11420-11427
National Category
Robotics and automation
Identifiers
URN: urn:nbn:se:kth:diva-342642DOI: 10.1109/IROS55552.2023.10341369ISI: 001136907804123Scopus ID: 2-s2.0-85182525633OAI: oai:DiVA.org:kth-342642DiVA, id: diva2:1831236
Conference
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023, Detroit, United States of America, Oct 1 2023 - Oct 5 2023
Note

Part of ISBN 9781665491907

QC 20240125

Available from: 2024-01-25 Created: 2024-01-25 Last updated: 2025-02-09Bibliographically approved

Open Access in DiVA

fulltext(5735 kB)25 downloads
File information
File name FULLTEXT01.pdfFile size 5735 kBChecksum SHA-512
24ba15500df85609b36dc216fb1478e366eb4827c6b21a18bac13720c7f426a330e61539cf082a1a4786ec2f895f4682ab07177e64ce2362bbed3f718e7d0a2e
Type fulltextMimetype application/pdf

Other links

Publisher's full textScopus

Authority records

van Waveren, SannePek, ChristianLeite, IolandaTumova, JanaKragic, Danica

Search in DiVA

By author/editor
van Waveren, SannePek, ChristianLeite, IolandaTumova, JanaKragic, Danica
By organisation
Robotics, Perception and Learning, RPL
Robotics and automation

Search outside of DiVA

GoogleGoogle Scholar
Total: 25 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 71 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf