Combining Deep Learning for Visuomotor Coordination with Object Identification to Realize a High-level Interface for Robot Object-picking

IEEE-RAS International Conference on Humanoid Robots (Humanoids), pages 612--617, doi: 10.1109/HUMANOIDS.2017.8246935 - Nov 2017
Associated documents :  
We present a proof of concept to show how a deep network for end-to-end visuomotor learning to grasp is coupled with an attention focus mechanism for state-of-theart object detection with convolutional neural networks. The cognitively motivated integration of both methods in a single robotic system allows us to realize a high-level interface to use the visuomotor network in environments with several objects, which otherwise would only be usable in environments with a single object. The resulting system is deployed on a humanoid robot, and we perform several real-world grasping experiments that demonstrate the feasibility of our approach.

 

@InProceedings{EKGNW17, 
 	 author =  {Eppe, Manfred and Kerzel, Matthias and Griffiths, Sascha and Ng, Hwei Geok and Wermter, Stefan},  
 	 title = {Combining Deep Learning for Visuomotor Coordination with Object Identification to Realize a High-level Interface for Robot Object-picking}, 
 	 booktitle = {IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
 	 editors = {},
 	 number = {},
 	 volume = {},
 	 pages = {612--617},
 	 year = {2017},
 	 month = {Nov},
 	 publisher = {},
 	 doi = {10.1109/HUMANOIDS.2017.8246935}, 
 }