The University of Tokyo · 공학
김희철 교수의 연구실은 깊이 있는 강화학습과 시각기반 운동 제어를 기반으로 한 로봇의 정교한 물체 조작 능력을 개발하고 있습니다. 특히 인간의 시각적 주의와 운동 제어의 이중 해상도 원리를 모방한 비전-운동 제어 시스템을 통해, 바나나 껍질 벗기기, 바늘 끼우기 등 정밀한 조작 과제를 성공적으로 학습합니다. 인간의 시각적 주목 행동을 측정하고 이를 활용해 시각적 잡음에서 벗어나 보다 정확한 제어를 가능하게 하는 기술적 접근이 핵심이며, 다중 손, 힘 피드백, 언어 지시 기반 조작 등 다양한 복잡한 조작 과제를 아우릅니다.
표시된 성과는 수집된 데이터 기준으로 산출되며, 일부 차이가 있을 수 있습니다.
Long-horizon dexterous robot manipulation of deformable objects, such as banana peeling, is a problematic task because of the difficulties in object modeling and a lack of knowledge about stable and dexterous manipulation skills. This paper presents a goal-conditioned dual-action (GC-DA) deep imitation learning (DIL) approach that can learn dexterous manipulation skills using human demonstration data. Previous DIL methods map the current sensory input and reactive action, which often fails becau
A high-precision manipulation task, such as needle threading, is challenging. Physiological studies have proposed connecting low-resolution peripheral vision and fast movement to transport the hand into the vicinity of an object, and using high-resolution foveated vision to achieve the accurate homing of the hand to the object. The results of this study demonstrate that a deep imitation learning based method, inspired by the gaze-based dual resolution visuomotor control system in humans, can sol
Deep imitation learning enables the learning of complex visuomotor skills from raw pixel inputs. However, this approach suffers from the problem of overfitting to the training images. The neural network can easily be distracted by task-irrelevant objects. In this letter, we use the human gaze measured by a head-mounted eye tracking device to discard task-irrelevant visual distractions. We propose a mixture density network-based behavior cloning method that learns to imitate the human gaze. The m
Deep imitation learning is promising for robot manipulation because it only requires demonstration samples. In this study, deep imitation learning is applied to tasks that require force feedback. However, existing demonstration methods have deficiencies; bilateral teleoperation requires a complex control scheme and is expensive, and kinesthetic teaching suffers from visual distractions from human intervention. This research proposes a new master-to-robot (M2R) policy transfer system that does no
Deep imitation learning is a promising approach that does not require hard-coded control rules in autonomous robot manipulation. The current applications of deep imitation learning to robot manipulation have been limited to reactive control based on the states at the current time step. However, future robots will also be required to solve tasks utilizing their memory obtained by experience in complicated environments (e.g., when the robot is asked to find a previously used object on a shelf). In
Deep imitation learning is a promising approach in robotic manipulation, enabling robots to acquire versatile and adaptable skills. In such research, by learning various tasks, robots achieved generality across multiple objects. However, such multi-task robot datasets have mainly focused on single-arm tasks that are relatively imprecise and not addressed the fine-grained object manipulation that robots are expected to perform in the real world. In this study, we introduce a dataset for diverse o
