Deep Segmented DMP Networks for Learning Discontinuous Motions

Discontinuous motion which is a motion composed of multiple continuous motions with sudden change in direction or velocity in between, can be seen in state-aware robotic tasks. Such robotic tasks are often coordinated with sensor information such as image. In recent years, Dynamic Movement Primitives (DMP) which is a method for generating motor behaviors suitable for robotics has garnered several deep learning based improvements to allow associations between sensor information and DMP parameters. While the implementation of deep learning framework does improve upon DMP's inability to directly associate to an input, we found that it has difficulty learning DMP parameters for complex motion which requires large number of basis functions to reconstruct. In this paper we propose a novel deep learning network architecture called Deep Segmented DMP Network (DSDNet) which generates variable-length segmented motion by utilizing the combination of multiple DMP parameters predicting network architecture, double-stage decoder network, and number of segments predictor. The proposed method is evaluated on both artificial data (object cutting & pick-and-place) and real data (object cutting) where our proposed method could achieve high generalization capability, task-achievement, and data-efficiency compared to previous method on generating discontinuous long-horizon motions.

Disturbance Injection under Partial Automation: Robust Imitation Learning for Long-horizon Tasks

Partial Automation (PA) with intelligent support systems has been introduced in industrial machinery and advanced automobiles to reduce the burden of long hours of human operation. Under PA, operators perform manual operations (providing actions) and operations that switch to automatic/manual mode (mode-switching). Since PA reduces the total duration of manual operation, these two action and mode-switching operations can be replicated by imitation learning with high sample efficiency. To this end, this paper proposes Disturbance Injection under Partial Automation (DIPA) as a novel imitation learning framework. In DIPA, mode and actions (in the manual mode) are assumed to be observables in each state and are used to learn both action and mode-switching policies. The above learning is robustified by injecting disturbances into the operator's actions to optimize the disturbance's level for minimizing the covariate shift under PA. We experimentally validated the effectiveness of our method for long-horizon tasks in two simulations and a real robot environment and confirmed that our method outperformed the previous methods and reduced the demonstration burden.

Disturbance-Injected Robust Imitation Learning with Task Achievement

Robust imitation learning using disturbance injections overcomes issues of limited variation in demonstrations. However, these methods assume demonstrations are optimal, and that policy stabilization can be learned via simple augmentations. In real-world scenarios, demonstrations are often of diverse-quality, and disturbance injection instead learns sub-optimal policies that fail to replicate desired behavior. To address this issue, this paper proposes a novel imitation learning framework that combines both policy robustification and optimal demonstration learning. Specifically, this combinatorial approach forces policy learning and disturbance injection optimization to focus on mainly learning from high task achievement demonstrations, while utilizing low achievement ones to decrease the number of samples needed. The effectiveness of the proposed method is verified through experiments using an excavation task in both simulations and a real robot, resulting in high-achieving policies that are more stable and robust to diverse-quality demonstrations. In addition, this method utilizes all of the weighted sub-optimal demonstrations without eliminating them, resulting in practical data efficiency benefits.