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Learning Human Priors for Task-Constrained Grasping
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-1031-9600
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2965-2953
2015 (English)In: COMPUTER VISION SYSTEMS (ICVS 2015), Springer Berlin/Heidelberg, 2015, 207-217 p.Conference paper, Published paper (Refereed)
Abstract [en]

An autonomous agent using manmade objects must understand how task conditions the grasp placement. In this paper we formulate task based robotic grasping as a feature learning problem. Using a human demonstrator to provide examples of grasps associated with a specific task, we learn a representation, such that similarity in task is reflected by similarity in feature. The learned representation discards parts of the sensory input that is redundant for the task, allowing the agent to ground and reason about the relevant features for the task. Synthesized grasps for an observed task on previously unseen objects can then be filtered and ordered by matching to learned instances without the need of an analytically formulated metric. We show on a real robot how our approach is able to utilize the learned representation to synthesize and perform valid task specific grasps on novel objects.

Place, publisher, year, edition, pages
Springer Berlin/Heidelberg, 2015. 207-217 p.
Series
Lecture Notes in Computer Science, ISSN 0302-9743 ; 9163
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-177975DOI: 10.1007/978-3-319-20904-3_20ISI: 000364183300020Scopus ID: 2-s2.0-84949035044ISBN: 978-3-319-20904-3; 978-3-319-20903-6 (print)OAI: oai:DiVA.org:kth-177975DiVA: diva2:876031
Conference
10th International Conference on Computer Vision Systems (ICVS), JUL 06-09, 2015, Copenhagen, DENMARK
Note

QC 20151202

Available from: 2015-12-02 Created: 2015-11-30 Last updated: 2015-12-02Bibliographically approved

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Hjelm, MartinKragic, Danica

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Citation style
  • apa
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