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Ensemble latent space roadmap for improved robustness in visual action planning
Roma Tre University, Rome, Italy.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0003-3827-3824
Roma Tre University, Rome, Italy.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0003-2965-2953
2024 (English)In: 2024 IEEE International Conference on Robotics and Automation, ICRA 2024, Institute of Electrical and Electronics Engineers (IEEE) , 2024, p. 2638-2644Conference paper, Published paper (Refereed)
Abstract [en]

Planning in learned latent spaces helps to decrease the dimensionality of raw observations. In this work, we propose to leverage the ensemble paradigm to enhance the robustness of latent planning systems. We rely on our Latent Space Roadmap (LSR) framework, which builds a graph in a learned structured latent space to perform planning. Given multiple LSR framework instances, that differ either on their latent spaces or on the parameters for constructing the graph, we use the action information as well as the embedded nodes of the produced plans to define similarity measures. These are then utilized to select the most promising plans. We validate the performance of our Ensemble LSR (ENS-LSR) on simulated box stacking and grape harvesting tasks as well as on a real-world robotic T-shirt folding experiment.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2024. p. 2638-2644
National Category
Robotics and automation
Identifiers
URN: urn:nbn:se:kth:diva-353547DOI: 10.1109/ICRA57147.2024.10611385Scopus ID: 2-s2.0-85202451901OAI: oai:DiVA.org:kth-353547DiVA, id: diva2:1899222
Conference
2024 IEEE International Conference on Robotics and Automation, ICRA 2024, May 13-17, 2024, Yokohama, Japan
Note

Part of ISBN: 9798350384574

QC 20240926

Available from: 2024-09-19 Created: 2024-09-19 Last updated: 2025-02-09Bibliographically approved

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Welle, Michael C.Kragic, Danica

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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  • vancouver
  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
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Output format
  • html
  • text
  • asciidoc
  • rtf