SwePub
Sök i LIBRIS databas

  Extended search

WFRF:(Gabriel Yiannis)
 

Search: WFRF:(Gabriel Yiannis) > Offline Goal-Condit...

  • Laezza, Rita,1995Chalmers tekniska högskola,Chalmers University of Technology (author)

Offline Goal-Conditioned Reinforcement Learning for Shape Control of Deformable Linear Objects

  • Article/chapterEnglish2024

Publisher, publication year, extent ...

  • 2024

Numbers

  • LIBRIS-ID:oai:research.chalmers.se:0d95a95e-a768-429b-9b19-95e1bcf35307
  • https://research.chalmers.se/publication/540358URI

Supplementary language notes

  • Language:English
  • Summary in:English

Part of subdatabase

Classification

  • Subject category:art swepub-publicationtype
  • Subject category:vet swepub-contenttype

Notes

  • Deformable objects present several challenges to the field of robotic manipulation. One of the tasks that best encapsulates the difficulties arising due to non-rigid behavior is shape control, which requires driving an object to a desired shape. While shape-servoing methods have been shown successful in contexts with approximately linear behavior, they can fail in tasks with more complex dynamics. We investigate an alternative approach, using offline RL to solve a planar shape control problem of a Deformable Linear Object (DLO). To evaluate the effect of material properties, two DLOs are tested namely a soft rope and an elastic cord. We frame this task as a goal-conditioned offline RL problem, and aim to learn to generalize to unseen goal shapes. Data collection and augmentation procedures are proposed to limit the amount of experimental data which needs to be collected with the real robot. We evaluate the amount of augmentation needed to achieve the best results, and test the effect of regularization through behavior cloning on the TD3+BC algorithm. Finally, we show that the proposed approach is able to outperform a shape-servoing baseline in a curvature inversion experiment.

Subject headings and genre

Added entries (persons, corporate bodies, meetings, titles ...)

  • Shetab-Bushehri, MohammadrezaUniversité Clermont Auvergne,Clermont Auvergne University (author)
  • Arslan Waltersson, Gabriel,1996Chalmers tekniska högskola,Chalmers University of Technology(Swepub:cth)gabwal (author)
  • Özgür, ErolUniversité Clermont Auvergne,Clermont Auvergne University (author)
  • Mezouar, YoucefUniversité Clermont Auvergne,Clermont Auvergne University (author)
  • Karayiannidis, Yiannis,1980Chalmers tekniska högskola,Chalmers University of Technology(Swepub:cth)yiannis (author)
  • Chalmers tekniska högskolaUniversité Clermont Auvergne (creator_code:org_t)

Internet link

Find in a library

To the university's database

Kungliga biblioteket hanterar dina personuppgifter i enlighet med EU:s dataskyddsförordning (2018), GDPR. Läs mer om hur det funkar här.
Så här hanterar KB dina uppgifter vid användning av denna tjänst.

 
pil uppåt Close

Copy and save the link in order to return to this view