ToolBot: Learning Oriented Keypoints for Tool Usage From Self-Supervision
文献类型：期刊论文
| 作者 | Wei, Junhang1,2 ; Hao, Peng2,3; Wang, Shuo2,3,4
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| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
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| 出版日期 | 2024 |
| 卷号 | 20期号:1页码:723-731 |
| 关键词 | Data-efficient robot learning self-superv ision tool usage visuomotor policy |
| ISSN号 | 1551-3203 |
| DOI | 10.1109/TII.2023.3271113 |
| 通讯作者 | Wang, Shuo(shuo.wang@ia.ac.cn) |
| 英文摘要 | Tool usage is critical for enabling robots to complete challenging tasks that exceed their innate capabilities. Task-oriented grasp and manipulation are two primitive actions in tool usage tasks. In this article, we present an end-to-end framework for jointly inferring two primitive actions through self-supervision, which can guide robots to complete tool usage tasks. We formulate primitive actions as oriented keypoint representations so that the existing pose-based policies can be easily used to achieve tool usage tasks. To address the low task completion rates in self-supervision, we propose a novel technique based on self-supervision properties and forward kinematic models to generate additional effective training samples. The resulting system, ToolBot, is evaluated with the following four different kinds of tools: hammer, knife, screwdriver, and wrench, and it achieves an average task success rate of 82.88% in simulation for four tools and 77.72% in real-world experiments. |
| WOS关键词 | ROBOT |
| 资助项目 | National Key Ramp;D Program of China |
| WOS研究方向 | Automation & Control Systems ; Computer Science ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:001163471500019 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Key Ramp;D Program of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/57966]  |
| 专题 | 复杂系统管理与控制国家重点实验室_水下机器人 |
| 通讯作者 | Wang, Shuo |
| 作者单位 | 1.Univ Chinese Acad Sci, Sch Future Technol, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 4.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai 200031, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wei, Junhang,Hao, Peng,Wang, Shuo. ToolBot: Learning Oriented Keypoints for Tool Usage From Self-Supervision[J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2024,20(1):723-731. |
| APA | Wei, Junhang,Hao, Peng,&Wang, Shuo.(2024).ToolBot: Learning Oriented Keypoints for Tool Usage From Self-Supervision.IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,20(1),723-731. |
| MLA | Wei, Junhang,et al."ToolBot: Learning Oriented Keypoints for Tool Usage From Self-Supervision".IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 20.1(2024):723-731. |
入库方式： OAI收割
来源：自动化研究所
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