Original scientific paper
https://doi.org/10.32985/ijeces.13.7.8
Task level disentanglement learning in robotics using βVAE
Midhun M S
; Department of Electronics, Cochin University of Science and Technology, Kerala, India
James Kurian
; Department of Electronics, Cochin University of Science and Technology, Kerala, India
Abstract
Humans observe and infer things in a disentanglement way. Instead of remembering all pixel by pixel, learn things with factors like shape, scale, colour etc. Robot task learning is an open problem in the field of robotics. The task planning in the robot workspace with many constraints makes it even more challenging. In this work, a disentanglement learning of robot tasks with Convolutional Variational Autoencoder is learned, effectively capturing the underlying variations in the data. A robot dataset for disentanglement evaluation is generated with the Selective Compliance Assembly Robot Arm. The disentanglement score of the proposed model is increased to 0.206 with a robot path position accuracy of 0.055, while the state-of-the-art model (VAE) score was 0.015, and the corresponding path position accuracy is 0.053. The proposed algorithm is developed in Python and validated on the simulated robot model in Gazebo interfaced with Robot Operating System.
Keywords
Machine Learning; Robotics; Neural Networks; Variational Autoencoder; beta-VAE
Hrčak ID:
284952
URI
Publication date:
30.9.2022.
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