Imitation Learning of Whole-Body Grasps

@article{Hsiao2006ImitationLO,
  title={Imitation Learning of Whole-Body Grasps},
  author={Kaijen Hsiao and Tom{\'a}s Lozano-P{\'e}rez},
  journal={2006 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2006},
  pages={5657-5662}
}
A system is detailed here for using imitation learning to teach a robot to grasp objects using both hand and whole-body grasps, which use the arms and torso as well as hands. Demonstration grasp trajectories are created by teleoperating a simulated robot to pick up simulated objects, modeled as combinations of up to three aligned primitives - boxes, cylinders, and spheres. When presented with a target object, the system compares it against the objects in a stored database to pick a demonstrated… CONTINUE READING
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