Structured Motion Generation with Predictive Learning: Proposing Subgoal for Long-Horizon Manipulation

Namiko Saito, Joao Moura, Tetsuya Ogata, Marina Y. Aoyama, Shingo Murata, Shigeki Sugano, Sethu Vijayakumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

For assisting humans in their daily lives, robots need to perform long-horizon tasks, such as tidying up a room or preparing a meal. One effective strategy for handling a long-horizon task is to break it down into short-horizon subgoals, that the robot can execute sequentially. In this paper, we propose extending a predictive learning model using deep neural networks (DNN) with a Subgoal Proposal Module (SPM), with the goal of making such tasks realizable. We evaluate our proposed model in a case-study of a long-horizon task, consisting of cutting and arranging a pizza. This task requires the robot to consider: (1) the order of the subtasks, (2) multiple subtask selection, (3) coordination of dual-arm, and (4) variations within a subtask. The results confirm that the model is able to generalize motion generation to unseen tools and objects arrangement combinations. Furthermore, it significantly reduces the prediction error of the generated motions compared to without the proposed SPM. Finally, we validate the generated motions on the dual-arm robot Nextage Open. See our accompanying video here: https://youtu.be/3hYS2knRm50

Original languageEnglish
Title of host publicationProceedings - ICRA 2023
Subtitle of host publicationIEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages9566-9572
Number of pages7
ISBN (Electronic)9798350323658
DOIs
Publication statusPublished - 2023
Event2023 IEEE International Conference on Robotics and Automation, ICRA 2023 - London, United Kingdom
Duration: 2023 May 292023 Jun 2

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2023-May
ISSN (Print)1050-4729

Conference

Conference2023 IEEE International Conference on Robotics and Automation, ICRA 2023
Country/TerritoryUnited Kingdom
CityLondon
Period23/5/2923/6/2

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Artificial Intelligence

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