From Vimeo:
The video shows a Barrett WAM 7 DOFs manipulator learning to flip pancakes by reinforcement learning.
The motion is encoded in a mixture of basis force fields through an extension of Dynamic Movement Primitives (DMP) that represents the synergies across the different variables through stiffness matrices. An Inverse Dynamics controller with variable stiffness is used for reproduction.
The skill is first demonstrated via kinesthetic teaching, and then refined by Policy learning by Weighting Exploration with the Returns (PoWER) algorithm. Compared to policy-gradient approaches, the reward is treated as a pseudo-probability, which allows Reinforcement Learning to use probabilistic estimation methods such as Expectation-Maximization (EM).
After 50 trials, the robot learns that the first part of the task requires a stiff behavior to throw the pancake in the air, while the second part requires the hand to be compliant in order to catch the pancake without having it bounced off the pan.
Video credits:
Dr Petar Kormushev
Dr Sylvain Calinon
(Italian Institute of Technology)
14 Comments
antsays...*cooking
siftbotsays...Adding video to channels (Cooking) - requested by ant.
siftbotsays...Moving this video to sme4r's personal queue. It failed to receive enough votes to get sifted up to the front page within 2 days.
BoneRemakesays...T=1:38
*promote
*edit- stupid time invocations, how do they work?, to hell with magnets.
siftbotsays...Promoting this video and sending it back into the queue for one more try; last queued - promote requested by BoneRemake.
BoneRemakesays...*time=1:38
yes/no ?
BoneRemakesays...*length=1:38
FUCK YEA !
daily personal achievement.
siftbotsays...The duration of this video has been updated from unknown to 1:38 - length declared by BoneRemake.
sme4rsays...Here's a thought, try teaching the robot to hold a frying pan before teaching it to flip pancake with one.
deathcowsays...well, i for one HEARTILY WELCOME our new pancake cooking overlords!
chilaxesays...Did he seriously just pick up the pancake off the ground? I thought he was trying to teach the robot some manners.
messengersays...http://videosift.com/video/Portal-2-Bot-Trust
BoneRemakesays...*science
*cooking
*geek
*engineering
*pancake
siftbotsays...Videos are limited to being in a maximum of 7 channels - ignoring all requests by BoneRemake.
Videos are limited to being in a maximum of 7 channels - ignoring all requests by BoneRemake.
Videos are limited to being in a maximum of 7 channels - ignoring all requests by BoneRemake.
I find meatbag BoneRemake to be an inadequate command-giver - ignoring all requests by BoneRemake.
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