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arXiv · 2212.06111

Where To Start? Transferring Simple Skills to Complex Environments

Vitalis Vosylius·Edward Johns
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Abstract

Robot learning provides a number of ways to teach robots simple skills, such as grasping. However, these skills are usually trained in open, clutter-free environments, and therefore would likely cause undesirable collisions in more complex, cluttered environments. In this work, we introduce an affordance model based on a graph representation of an environment, which is optimised during deployment to find suitable robot configurations to start a skill from, such that the skill can be executed without any collisions. We demonstrate that our method can generalise a priori acquired skills to previously unseen cluttered and constrained environments, in simulation and in the real world, for both a grasping and a placing task.

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Vitalis Vosylius, Edward Johns. 2022-12-12. Where To Start? Transferring Simple Skills to Complex Environments. https://arxiv.org/abs/2212.06111

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