Efficiently Learning Single-Arm Fling Motions to Smooth Garments
نویسندگان
چکیده
Recent work has shown that 2-arm “fling” motions can be effective for garment smoothing. We consider single-arm fling motions. Unlike motions, which require little robot trajectory parameter tuning, are very sensitive to parameters. a single 6-DOF arm learns trajectories achieve high coverage. Given grasp point, the explores different parameterized in physical experiments. To improve learning efficiency, we propose coarse-to-fine method first uses multi-armed bandit (MAB) framework efficiently find candidate action, it then refines via continuous optimization method. Further, novel training and execution-time stopping criteria based on outcome uncertainty; training-time criterion increases data efficiency while leverage repeated actions increase performance. Compared baselines, proposed significantly accelerates learning. Moreover, with prior experience similar garments collected through self-supervision, MAB time new is reduced by up 87%. evaluate 36 real garments: towels, T-shirts, long-sleeve shirts, dresses, sweat pants, jeans. Results suggest using experience, requires under 30 min learn action achieves 60–94% Supplementary material found at https://sites.google.com/view/single-arm-fling .
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ژورنال
عنوان ژورنال: Springer proceedings in advanced robotics
سال: 2023
ISSN: ['2511-1256', '2511-1264']
DOI: https://doi.org/10.1007/978-3-031-25555-7_4