Neurocognitive Shared Visuomotor Network for End-to-end Learning of Object Identification, Localization and Grasping on a Humanoid

2019 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob), pages 19--24, doi:10.1109/DEVLRN.2019.8850679 - Aug 2019.
Associated documents : Shared_Visuomotor_Networks_for_Object_Identification__Localization_and_Manipulation_Preprint.pdf [1.5Mo]   http://dx.doi.org/10.1109/DEVLRN.2019.8850679
We present a unified visuomotor neural architecture for the robotic task of identifying, localizing, and grasping a goal object in a cluttered scene. The RetinaNet-based neural architecture enables end-to-end training of visuomotor abilities in a biological-inspired developmental approach. We demonstrate a successful development and evaluation of the method on a humanoid robot platform. The proposed architecture outperforms previous work on single object grasping as well as a modular architecture for object picking. An analysis of grasp errors suggests similarities to infant grasp learning: While the end-to-end architecture successfully learns grasp configurations, sometimes object confusions occur: when multiple objects are presented, salient objects are picked instead of the intended object.

 

@InProceedings{KEHAW19,
  author       = "Kerzel, Matthias and Eppe, Manfred and Heinrich, Stefan and Abawi, Fares and Wermter, Stefan",
  title        = "Neurocognitive Shared Visuomotor Network for End-to-end Learning of Object Identification, Localization and Grasping on a Humanoid",
  booktitle    = "2019 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob)",
  pages        = "19--24",
  month        = "Aug",
  year         = "2019",
  publisher    = "IEEE",
  doi          = "10.1109/DEVLRN.2019.8850679",
  url          = "https://www2.informatik.uni-hamburg.de/wtm/publications/2019/KEHAW19/Shared_Visuomotor_Networks_for_Object_Identification__Localization_and_Manipulation_Preprint.pdf"
}

» Matthias Kerzel
» Manfred Eppe
» Stefan Heinrich
» Fares Abawi
» Stefan Wermter