Exploring affordances in robot grasping through latent structure representation

Abstract

An important challenge in robotic research is learning by imitation. The goal in such is to create a system whereby a robot can learn to perform a specific task by imitating a human instructor. In order to do so, the robot needs to determine the state of the scene through its sensory system. There is a huge range of possible sensory streams that the robot can make use of to reason and interact with its environment. Due to computational and algorithmic limitations we are interested in limiting the number of sensory inputs. Further, streams can be complementary both in general, but more importantly for specific tasks. Thereby, an intelligent and constrained limitation of the number of sensory inputs is motivated. We are interested in exploiting such structure in order to do what will be referred to as Goal-Directed-Perception (GDP). The goal of GDP is, given partial knowledge about the scene, to direct the robot’s modes of perception in order to maximally disambiguate the state space. In this paper, we present the application of two different probabilistic models in modeling the largely redundant and complementary observation space for the task of object grasping. We evaluate and discuss the results of both approaches.