One shot observation learning using visual activity features

Abstract:

Observation learning is the process of learning a task by observing an expert demonstrator. Our principal contribution is a one-shot learning method for robot manipulation tasks in which only a single demonstration is required. The key idea is to encode the demonstration in an activity space defined by a previously trained activity classifier. The distance between this encoding and equivalent encodings from trials of a robot performing the same task provides a reward function supporting iterative learning of task completion by the robotic manipulator. We use reinforcement learning for experiments with a simulated robotic manipulator, and stochastic trajectory optimisation for experiments with a real robotic manipulator. We show that the proposed method can be used to learn tasks from a single demonstration under varying conditions of viewpoints, object properties, morphology of manipulators and scene backgrounds. [view paper]

Overview:

Experiment 1: Reaching a target (Simulation)

    Demonstration Learned execution - V1 Learned execution - Obj1 Learned execution - BG
   
    Demonstration Learned execution- V2 Learned execution - Obj2 Demonstration Learned execution- M
   

Experiment 2: Pushing an object (Simulation)

    Demonstration Learned execution - V1 Learned execution - Obj1 Learned execution - BG
   
    Demonstration Learned execution- V2 Learned execution - Obj2 Demonstration Learned execution- M
   

Experiment 2: Pushing an object (real robot)

    Demonstration Learned execution - V1 Learned execution - Obj1 Learned execution - BG
   
    Demonstration Learned execution- V2 Learned execution - Obj2 Demonstration Learned execution- M
   

Experiment 3: Hammering (real robot)

    Demonstration Learned execution - V1 Learned execution - Obj1 Learned execution - Obj2 Learned execution- M Learned execution - BG
   
    Demonstration Learned execution- V2
   

Experiment 4: Sweeping (real robot)

            Demonstration Learned execution - V1 Learned execution - BG     Demonstration Learned execution- V2
           
   

Experiment 5: Striking (real robot)

            Demonstration Learned execution - V1 Learned execution - BG     Demonstration Learned execution- V2