Book ; Online: Compositional Servoing by Recombining Demonstrations
2023
Abstract: Learning-based manipulation policies from image inputs often show weak task transfer capabilities. In contrast, visual servoing methods allow efficient task transfer in high-precision scenarios while requiring only a few demonstrations. In this work, we ... ...
| Abstract | Learning-based manipulation policies from image inputs often show weak task transfer capabilities. In contrast, visual servoing methods allow efficient task transfer in high-precision scenarios while requiring only a few demonstrations. In this work, we present a framework that formulates the visual servoing task as graph traversal. Our method not only extends the robustness of visual servoing, but also enables multitask capability based on a few task-specific demonstrations. We construct demonstration graphs by splitting existing demonstrations and recombining them. In order to traverse the demonstration graph in the inference case, we utilize a similarity function that helps select the best demonstration for a specific task. This enables us to compute the shortest path through the graph. Ultimately, we show that recombining demonstrations leads to higher task-respective success. We present extensive simulation and real-world experimental results that demonstrate the efficacy of our approach. Comment: http://compservo.cs.uni-freiburg.de |
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| Keywords | Computer Science - Robotics ; Computer Science - Computer Vision and Pattern Recognition |
| Subject code | 004 |
| Publishing date | 2023-10-06 |
| Publishing country | us |
| Document type | Book ; Online |
| Database | BASE - Bielefeld Academic Search Engine (life sciences selection) |
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