Exploring Saliency for Learning Sensory-Motor Contingencies in Loco-Manipulation Tasks

The objective of this paper is to propose a framework for a robot to learn multiple Sensory-Motor Contingencies from human demonstrations and reproduce them. Sensory-Motor Contingencies are a concept that describes intelligent behavior of animals and humans in relation to their environment. They hav...

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Vydané v:	Robotics (Basel) Ročník 13; číslo 4; s. 58
Hlavní autori:	Stefanini, Elisa, Lentini, Gianluca, Grioli, Giorgio, Catalano, Manuel Giuseppe, Bicchi, Antonio
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	Basel MDPI AG 01.04.2024
Predmet:	Algorithms Behavior Collaboration Control systems Decision making Feedback human–robot interaction intelligent robotics Machine learning Motion Perception Perceptions Robot arms Robot control Robot learning robot programming and interfaces Robotics Robots sensorimotor learning Sensors Italy
ISSN:	2218-6581, 2218-6581
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Abstract	The objective of this paper is to propose a framework for a robot to learn multiple Sensory-Motor Contingencies from human demonstrations and reproduce them. Sensory-Motor Contingencies are a concept that describes intelligent behavior of animals and humans in relation to their environment. They have been used to design control and planning algorithms for robots capable of interacting and adapting autonomously. However, enabling a robot to autonomously develop Sensory-Motor Contingencies is challenging due to the complexity of action and perception signals. This framework leverages tools from Learning from Demonstrations to have the robot memorize various sensory phases and corresponding motor actions through an attention mechanism. This generates a metric in the perception space, used by the robot to determine which sensory-motor memory is contingent to the current context. The robot generalizes the memorized actions to adapt them to the present perception. This process creates a discrete lattice of continuous Sensory-Motor Contingencies that can control a robot in loco-manipulation tasks. Experiments on a 7-dof collaborative robotic arm with a gripper, and on a mobile manipulator demonstrate the functionality and versatility of the framework.
AbstractList	The objective of this paper is to propose a framework for a robot to learn multiple Sensory-Motor Contingencies from human demonstrations and reproduce them. Sensory-Motor Contingencies are a concept that describes intelligent behavior of animals and humans in relation to their environment. They have been used to design control and planning algorithms for robots capable of interacting and adapting autonomously. However, enabling a robot to autonomously develop Sensory-Motor Contingencies is challenging due to the complexity of action and perception signals. This framework leverages tools from Learning from Demonstrations to have the robot memorize various sensory phases and corresponding motor actions through an attention mechanism. This generates a metric in the perception space, used by the robot to determine which sensory-motor memory is contingent to the current context. The robot generalizes the memorized actions to adapt them to the present perception. This process creates a discrete lattice of continuous Sensory-Motor Contingencies that can control a robot in loco-manipulation tasks. Experiments on a 7-dof collaborative robotic arm with a gripper, and on a mobile manipulator demonstrate the functionality and versatility of the framework.
Audience	Academic
Author	Stefanini, Elisa Lentini, Gianluca Grioli, Giorgio Bicchi, Antonio Catalano, Manuel Giuseppe
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Cites_doi	10.1109/ACCESS.2020.2988796 10.1146/annurev-control-100819-063206 10.1162/NECO_a_00393 10.1007/s10514-015-9502-8 10.15607/RSS.2018.XIV.009 10.3389/fpsyg.2013.00285 10.1109/IROS.2007.4399511 10.1109/IROS.2016.7759417 10.1007/s00521-021-06449-x 10.4324/9781315740218 10.1177/0278364913518998 10.1609/aaai.v32i1.11547 10.24963/ijcai.2021/590 10.1007/978-3-319-24205-7 10.1109/ROBIO.2018.8665229 10.1016/0167-6393(93)90083-W 10.1109/ICRA.2018.8461249 10.1109/ICRA.2011.5979919 10.1109/LRA.2018.2795643 10.2139/ssrn.4390650 10.1109/ROBOT.2008.4543794 10.1007/978-3-319-09584-4_25 10.1007/s10994-021-05961-4 10.1016/j.robot.2011.05.009 10.3389/fnbot.2019.00098 10.15607/RSS.2018.XIV.056 10.1109/IROS.2013.6696754 10.1177/0278364913495721 10.1177/1059712313497975 10.1109/LRA.2023.3346758 10.1109/LRA.2022.3187258 10.1017/S0140525X01000115 10.1023/A:1012699224677 10.3389/fnhum.2021.624610
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SubjectTerms	Algorithms Behavior Collaboration Control systems Decision making Feedback human–robot interaction intelligent robotics Machine learning Motion Perception Perceptions Robot arms Robot control Robot learning robot programming and interfaces Robotics Robots sensorimotor learning Sensors
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Title	Exploring Saliency for Learning Sensory-Motor Contingencies in Loco-Manipulation Tasks
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