Repository logo

Infoscience

  • English
  • French
Log In
Logo EPFL, École polytechnique fédérale de Lausanne

Infoscience

  • English
  • French
Log In
  1. Home
  2. Academic and Research Output
  3. Journal articles
  4. Active Learning of Bayesian Probabilistic Movement Primitives
 
research article

Active Learning of Bayesian Probabilistic Movement Primitives

Kulak, Thibaut
•
Girgin, Hakan
•
Odobez, Jean-Marc  
Show more
2021
IEEE Robotics and Automation Letters

Learning from Demonstration permits non-expert users to easily and intuitively reprogram robots. Among approaches embracing this paradigm, probabilistic movement primitives (ProMPs) are a well-established and widely used method to learn trajectory distributions. However, providing or requesting useful demonstrations is not easy, as quantifying what constitutes a good demonstration in terms of generalization capabilities is not trivial. In this paper, we propose an active learning method for contextual ProMPs for addressing this problem. More specifically, we learn the trajectory distributions using a Bayesian Gaussian mixture model (BGMM) and then leverage the notion of epistemic uncertainties to iteratively choose new context query points for demonstrations. We show that this approach reduces the required number of human demonstrations. We demonstrate the effectiveness of the approach on a pouring task, both in simulation and on a real 7-DoF Franka Emika robot.

  • Details
  • Metrics
Type
research article
DOI
10.1109/LRA.2021.3060414
Author(s)
Kulak, Thibaut
Girgin, Hakan
Odobez, Jean-Marc  
Calinon, Sylvain  
Date Issued

2021

Publisher

IEEE

Published in
IEEE Robotics and Automation Letters
Volume

6

Issue

2

Start page

2163

End page

2170

URL

Link to IDIAP database

http://publications.idiap.ch/downloads/papers/2021/Kulak_RA-L_2021.pdf
Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
LIDIAP  
Available on Infoscience
April 13, 2021
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/177301
Logo EPFL, École polytechnique fédérale de Lausanne
  • Contact
  • infoscience@epfl.ch

  • Follow us on Facebook
  • Follow us on Instagram
  • Follow us on LinkedIn
  • Follow us on X
  • Follow us on Youtube
AccessibilityLegal noticePrivacy policyCookie settingsEnd User AgreementGet helpFeedback

Infoscience is a service managed and provided by the Library and IT Services of EPFL. © EPFL, tous droits réservés