• norsk
    • English
  • English 
    • norsk
    • English
  • Login
View Item 
  •   Home
  • Øvrige samlinger
  • Publikasjoner fra CRIStin - NTNU
  • View Item
  •   Home
  • Øvrige samlinger
  • Publikasjoner fra CRIStin - NTNU
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Teaching a Robot to Grasp Real Fish by Imitation Learning from a Human Supervisor in Virtual Reality

Dyrstad, Jonatan Sjølund; Øye, Elling Ruud; Stahl, Annette; Mathiassen, John Reidar Bartle
Journal article
Submitted version
Thumbnail
View/Open
GraspingRealFishIROS2018v3.pdf (2.257Mb)
URI
http://hdl.handle.net/11250/2582626
Date
2018
Metadata
Show full item record
Collections
  • Institutt for teknisk kybernetikk [2188]
  • Publikasjoner fra CRIStin - NTNU [19757]
Original version
10.1109/IROS.2018.8593954
Abstract
We teach a real robot to grasp real fish, by training a virtual robot exclusively in virtual reality. Our approach implements robot imitation learning from a human supervisor in virtual reality. A deep 3D convolutional neural network computes grasps from a 3D occupancy grid obtained from depth imaging at multiple viewpoints. In virtual reality, a human supervisor can easily and intuitively demonstrate examples of how to grasp an object, such as a fish. From a few dozen of these demonstrations, we use domain randomization to generate a large synthetic training data set consisting of 100 000 example grasps of fish. Using this data set for training purposes, the network is able to guide a real robot and gripper to grasp real fish with good success rates. The newly proposed domain randomization approach constitutes the first step in how to efficiently perform robot imitation learning from a human supervisor in virtual reality in a way that transfers well to the real world.
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Journal
IEEE International Conference on Intelligent Robots and Systems. Proceedings

Contact Us | Send Feedback

Privacy policy
DSpace software copyright © 2002-2019  DuraSpace

Service from  Unit
 

 

Browse

ArchiveCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsDocument TypesJournalsThis CollectionBy Issue DateAuthorsTitlesSubjectsDocument TypesJournals

My Account

Login

Statistics

View Usage Statistics

Contact Us | Send Feedback

Privacy policy
DSpace software copyright © 2002-2019  DuraSpace

Service from  Unit