An Object Attribute Guided Framework for Robot Learning Manipulations from Human Demonstration Videos

摘要

Learning manipulations from videos is an inspiriting way for robots to acquire new skills. In this paper, we propose a framework that can generate robotic manipulation plans by observing human demonstration videos without special marks or unnatural demonstrated behaviors. More specifically, the framework contains a video parsing module and a robot execution module. The first module recognizes the demonstrator's actions using two-stream convolution neural networks, and classifies the operated objects by adopting a Mask R-CNN. After that, two XGBoost classifiers are applied to further classify the objects into subject object and patient object respectively, according to the demonstrator's actions. In the second module, a grammar-based parser is used to summarize the videos and generate the common instructions for robot execution. Extensive experiments are conducted on a publicly available video datasets consisting of 273 videos and manifest that our approach is able to learn manipulation plans from demonstration videos with high accuracy (73.36%). Furthermore, we integrate our framework with a humanoid robot Baxter to perform the manipulation learning from demonstration videos, which effectively verifies the performance of our framework.