FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2091344462> ?p ?o ?g. }

• W2091344462 abstract "Recent work [1], [2] has shown promising results in enabling robotic manipulation of deformable objects through learning from demonstrations. Their method computes a registration from training scene to test scene, and then applies an extrapolation of this registration to the training scene gripper motion to obtain the gripper motion for the test scene. The warping cost of scene-to-scene registrations is used to determine the nearest neighbor from a set of training demonstrations. Then once the gripper motion has been generalized to the test situation, they apply trajectory optimization [3] to plan for the robot motions that will track the predicted gripper motions. In many situations, however, the predicted gripper motions cannot be followed perfectly due to, for example, joint limits or obstacles. In this case the past work finds a path that minimizes deviation from the predicted gripper trajectory as measured by its Euclidean distance for position and angular distance for orientation. Measuring the error this way during the motion planning phase, however, ignores the underlying structure of the problem-namely the idea that rigid registrations are preferred to generalize from training scene to test scene. Deviating from the gripper trajectory predicted by the extrapolated registration effectively changes the warp induced by the registration in the part of the space where the gripper trajectories are. The main contribution of this paper is an algorithm that considers this effective final warp as the criterion to optimize for in a unified optimization that simultaneously considers the scene-to-scene warping and the robot trajectory (which were separated into two sequential steps by the past work). This results in an approach that adjusts to infeasibility in a way that adapts directly to the geometry of the scene and minimizes the introduction of additional warping cost. In addition, this paper proposes to learn the motion of the gripper pads, whereas past work considered the motion of a coordinate frame attached to the gripper as a whole. This enables learning more precise grasping motions. Our experiments, which consider the task of knot tying, show that both unified optimization and explicit consideration of gripper pad motion result in improved performance." @default.
• W2091344462 created "2016-06-24" @default.
• W2091344462 creator A5025289132 @default.
• W2091344462 creator A5027666200 @default.
• W2091344462 creator A5049349154 @default.
• W2091344462 creator A5076757561 @default.
• W2091344462 creator A5082738872 @default.
• W2091344462 date "2014-09-01" @default.
• W2091344462 modified "2023-10-04" @default.
• W2091344462 title "Unifying scene registration and trajectory optimization for learning from demonstrations with application to manipulation of deformable objects" @default.
• W2091344462 cites W1986014385 @default.
• W2091344462 cites W2025468671 @default.
• W2091344462 cites W2101073745 @default.
• W2091344462 cites W2108901421 @default.
• W2091344462 cites W2126998703 @default.
• W2091344462 cites W2128677288 @default.
• W2091344462 cites W2130859329 @default.
• W2091344462 cites W2131908539 @default.
• W2091344462 cites W2138931081 @default.
• W2091344462 cites W2141097672 @default.
• W2091344462 cites W2151693201 @default.
• W2091344462 cites W2159791647 @default.
• W2091344462 cites W2166302491 @default.
• W2091344462 cites W2171490473 @default.
• W2091344462 cites W3162558845 @default.
• W2091344462 cites W4298876635 @default.
• W2091344462 doi "https://doi.org/10.1109/iros.2014.6943185" @default.
• W2091344462 hasPublicationYear "2014" @default.
• W2091344462 type Work @default.
• W2091344462 sameAs 2091344462 @default.
• W2091344462 citedByCount "29" @default.
• W2091344462 countsByYear W20913444622015 @default.
• W2091344462 countsByYear W20913444622016 @default.
• W2091344462 countsByYear W20913444622018 @default.
• W2091344462 countsByYear W20913444622019 @default.
• W2091344462 countsByYear W20913444622020 @default.
• W2091344462 countsByYear W20913444622021 @default.
• W2091344462 countsByYear W20913444622023 @default.
• W2091344462 crossrefType "proceedings-article" @default.
• W2091344462 hasAuthorship W2091344462A5025289132 @default.
• W2091344462 hasAuthorship W2091344462A5027666200 @default.
• W2091344462 hasAuthorship W2091344462A5049349154 @default.
• W2091344462 hasAuthorship W2091344462A5076757561 @default.
• W2091344462 hasAuthorship W2091344462A5082738872 @default.
• W2091344462 hasBestOaLocation W20913444622 @default.
• W2091344462 hasConcept C10138342 @default.
• W2091344462 hasConcept C104114177 @default.
• W2091344462 hasConcept C104317684 @default.
• W2091344462 hasConcept C105580179 @default.
• W2091344462 hasConcept C121332964 @default.
• W2091344462 hasConcept C1276947 @default.
• W2091344462 hasConcept C132459708 @default.
• W2091344462 hasConcept C134306372 @default.
• W2091344462 hasConcept C13662910 @default.
• W2091344462 hasConcept C149364088 @default.
• W2091344462 hasConcept C154945302 @default.
• W2091344462 hasConcept C157202957 @default.
• W2091344462 hasConcept C162324750 @default.
• W2091344462 hasConcept C16345878 @default.
• W2091344462 hasConcept C185592680 @default.
• W2091344462 hasConcept C198082294 @default.
• W2091344462 hasConcept C199360897 @default.
• W2091344462 hasConcept C2524010 @default.
• W2091344462 hasConcept C2777735758 @default.
• W2091344462 hasConcept C31972630 @default.
• W2091344462 hasConcept C33923547 @default.
• W2091344462 hasConcept C41008148 @default.
• W2091344462 hasConcept C55493867 @default.
• W2091344462 hasConcept C90509273 @default.
• W2091344462 hasConceptScore W2091344462C10138342 @default.
• W2091344462 hasConceptScore W2091344462C104114177 @default.
• W2091344462 hasConceptScore W2091344462C104317684 @default.
• W2091344462 hasConceptScore W2091344462C105580179 @default.
• W2091344462 hasConceptScore W2091344462C121332964 @default.
• W2091344462 hasConceptScore W2091344462C1276947 @default.
• W2091344462 hasConceptScore W2091344462C132459708 @default.
• W2091344462 hasConceptScore W2091344462C134306372 @default.
• W2091344462 hasConceptScore W2091344462C13662910 @default.
• W2091344462 hasConceptScore W2091344462C149364088 @default.
• W2091344462 hasConceptScore W2091344462C154945302 @default.
• W2091344462 hasConceptScore W2091344462C157202957 @default.
• W2091344462 hasConceptScore W2091344462C162324750 @default.
• W2091344462 hasConceptScore W2091344462C16345878 @default.
• W2091344462 hasConceptScore W2091344462C185592680 @default.
• W2091344462 hasConceptScore W2091344462C198082294 @default.
• W2091344462 hasConceptScore W2091344462C199360897 @default.
• W2091344462 hasConceptScore W2091344462C2524010 @default.
• W2091344462 hasConceptScore W2091344462C2777735758 @default.
• W2091344462 hasConceptScore W2091344462C31972630 @default.
• W2091344462 hasConceptScore W2091344462C33923547 @default.
• W2091344462 hasConceptScore W2091344462C41008148 @default.
• W2091344462 hasConceptScore W2091344462C55493867 @default.
• W2091344462 hasConceptScore W2091344462C90509273 @default.
• W2091344462 hasLocation W20913444621 @default.
• W2091344462 hasLocation W20913444622 @default.
• W2091344462 hasLocation W20913444623 @default.
• W2091344462 hasOpenAccess W2091344462 @default.
• W2091344462 hasPrimaryLocation W20913444621 @default.
• W2091344462 hasRelatedWork W1865242774 @default.
• W2091344462 hasRelatedWork W2116300362 @default.

• next