Imitation Learning for High Precision Peg-in-Hole Tasks

摘要

Industrial robot manipulators are not able to match the precision and speed with which humans are able to execute contact rich tasks even to this day. Therefore, as a means to overcome this gap, we demonstrate generative methods for imitating a peg-in-hole insertion task in a 6-DOF robot manipulator. In particular, generative adversarial imitation learning (GAIL) is used to successfully achieve this task with a <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$6 \mu\mathrm{m}$</tex> peg-hole clearance on the Yaskawa GP8 industrial robot. Experimental results show that the policy successfully learns within 20 episodes from a handful of human expert demonstrations on the robot (i.e., < 10 tele-operated robot demonstrations). The insertion time improves from > 20 seconds (which also includes failed insertions) to < 15 seconds, thereby validating the effectiveness of this approach.