Using symmetries in reinforcement learning of bimanual robotic tasks
The learning of bimanual robotic tasks, i.e., tasks executed by two manipulators together, can be particularly important in the new scenarios opened by the rise of humanoid robotics, one of the most interesting trend currently in the field. The work presented wants to build a method to simplify the...
| Autor: | |
|---|---|
| Tipo de recurso: | tesis de maestría |
| Fecha de publicación: | 2018 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/167695 |
| Acceso en línea: | https://hdl.handle.net/2117/167695 |
| Access Level: | acceso abierto |
| Palabra clave: | Robots -- Programming Robots -- Kinematics Artificial arms Robots -- Programació Robots -- Cinemàtica Braços artificials |
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Using symmetries in reinforcement learning of bimanual robotic tasksAmadio, FabioRobots -- ProgrammingRobots -- KinematicsArtificial armsRobots -- ProgramacióRobots -- CinemàticaBraços artificialsThe learning of bimanual robotic tasks, i.e., tasks executed by two manipulators together, can be particularly important in the new scenarios opened by the rise of humanoid robotics, one of the most interesting trend currently in the field. The work presented wants to build a method to simplify the dimensionality of parameter space in this particular context, exploiting the presence of symmetries between the movements executed by the two arms. The aim is to develop a reduced-order representation of the bimanual motion, with the purpose of increase the speed of learning process. In chapter 1, kinematics of the used robots is studied, in order to know how to correctly command the position of the robots while executing a task. Robotic movements are then modeled using Probabilistic Movement Primitives (ProMPs), a stochastic interpretation of robot movements (details in chapter 2). The first objective is to develop a symmetrization method for those kind of policies, and this part is treated in chapter 3. This will give the chance of representing the movement of two robotic arms, with only a single ProMP (instead of two, one for each arm), from which obtain the second policy applying symmetrization. In this way the amount of parameters representing motion can be halved. The most common kind of symmetry is the one defined by a plane, but also other cases can be explored, e.g., spherical or cylindrical symmetry. If the symmetry surface is not explicitly given in the bimanual task description, it is critical to have a reliable method to estimate it in order to exploit it in the learning process. In chapter 4 it is reported a way to obtain this estimation of the parameters describing the symmetry surface from the initially demonstrated trajectories. Finally, in chapter 5 it is defined a symmetric policy representation for bimanual task, that depends only on a single ProMP and a symmetry surface. The effectiveness of this parameter reduction has been tested applying it in reinforcement learning of some tasks, in comparison to the results obtained by the standard way of proceeding, that model the bimanual task with two separated ProMPs, one for each robotic arm.Universitat Politècnica de CatalunyaColomé Figueras, AdriàSerra, Maria20182018-06-2120192019-08-26master thesishttp://purl.org/coar/resource_type/c_bdccNAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/masterThesisapplication/pdfhttps://hdl.handle.net/2117/167695reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2http://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/1676952026-05-27T15:37:01Z |
| dc.title.none.fl_str_mv |
Using symmetries in reinforcement learning of bimanual robotic tasks |
| title |
Using symmetries in reinforcement learning of bimanual robotic tasks |
| spellingShingle |
Using symmetries in reinforcement learning of bimanual robotic tasks Amadio, Fabio Robots -- Programming Robots -- Kinematics Artificial arms Robots -- Programació Robots -- Cinemàtica Braços artificials |
| title_short |
Using symmetries in reinforcement learning of bimanual robotic tasks |
| title_full |
Using symmetries in reinforcement learning of bimanual robotic tasks |
| title_fullStr |
Using symmetries in reinforcement learning of bimanual robotic tasks |
| title_full_unstemmed |
Using symmetries in reinforcement learning of bimanual robotic tasks |
| title_sort |
Using symmetries in reinforcement learning of bimanual robotic tasks |
| dc.creator.none.fl_str_mv |
Amadio, Fabio |
| author |
Amadio, Fabio |
| author_facet |
Amadio, Fabio |
| author_role |
author |
| dc.contributor.none.fl_str_mv |
Colomé Figueras, Adrià Serra, Maria |
| dc.subject.none.fl_str_mv |
Robots -- Programming Robots -- Kinematics Artificial arms Robots -- Programació Robots -- Cinemàtica Braços artificials |
| topic |
Robots -- Programming Robots -- Kinematics Artificial arms Robots -- Programació Robots -- Cinemàtica Braços artificials |
| description |
The learning of bimanual robotic tasks, i.e., tasks executed by two manipulators together, can be particularly important in the new scenarios opened by the rise of humanoid robotics, one of the most interesting trend currently in the field. The work presented wants to build a method to simplify the dimensionality of parameter space in this particular context, exploiting the presence of symmetries between the movements executed by the two arms. The aim is to develop a reduced-order representation of the bimanual motion, with the purpose of increase the speed of learning process. In chapter 1, kinematics of the used robots is studied, in order to know how to correctly command the position of the robots while executing a task. Robotic movements are then modeled using Probabilistic Movement Primitives (ProMPs), a stochastic interpretation of robot movements (details in chapter 2). The first objective is to develop a symmetrization method for those kind of policies, and this part is treated in chapter 3. This will give the chance of representing the movement of two robotic arms, with only a single ProMP (instead of two, one for each arm), from which obtain the second policy applying symmetrization. In this way the amount of parameters representing motion can be halved. The most common kind of symmetry is the one defined by a plane, but also other cases can be explored, e.g., spherical or cylindrical symmetry. If the symmetry surface is not explicitly given in the bimanual task description, it is critical to have a reliable method to estimate it in order to exploit it in the learning process. In chapter 4 it is reported a way to obtain this estimation of the parameters describing the symmetry surface from the initially demonstrated trajectories. Finally, in chapter 5 it is defined a symmetric policy representation for bimanual task, that depends only on a single ProMP and a symmetry surface. The effectiveness of this parameter reduction has been tested applying it in reinforcement learning of some tasks, in comparison to the results obtained by the standard way of proceeding, that model the bimanual task with two separated ProMPs, one for each robotic arm. |
| publishDate |
2018 |
| dc.date.none.fl_str_mv |
2018 2018-06-21 2019 2019-08-26 |
| dc.type.none.fl_str_mv |
master thesis http://purl.org/coar/resource_type/c_bdcc NA http://purl.org/coar/version/c_be7fb7dd8ff6fe43 |
| dc.type.openaire.fl_str_mv |
info:eu-repo/semantics/masterThesis |
| format |
masterThesis |
| dc.identifier.none.fl_str_mv |
https://hdl.handle.net/2117/167695 |
| url |
https://hdl.handle.net/2117/167695 |
| dc.language.none.fl_str_mv |
Inglés eng |
| language_invalid_str_mv |
Inglés |
| language |
eng |
| dc.rights.none.fl_str_mv |
open access http://purl.org/coar/access_right/c_abf2 http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
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info:eu-repo/semantics/openAccess |
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open access http://purl.org/coar/access_right/c_abf2 http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
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openAccess |
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application/pdf |
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Universitat Politècnica de Catalunya |
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Universitat Politècnica de Catalunya |
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reponame:UPCommons. Portal del coneixement obert de la UPC instname:Universitat Politècnica de Catalunya (UPC) |
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Universitat Politècnica de Catalunya (UPC) |
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UPCommons. Portal del coneixement obert de la UPC |
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UPCommons. Portal del coneixement obert de la UPC |
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15.300724 |