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Ex-DoF: Expansion of Action Degree-of-Freedom with Virtual Camera Rotation for Omnidirectional Image

2021-11-24 01:13:25
Kosuke Tahara, Noriaki Hirose (Toyota Central R&D Labs., Inc.)

Abstract

Inter-robot transfer of training data is a little explored topic in learning and vision-based robot control. Thus, we propose a transfer method from a robot with a lower Degree-of-Freedom (DoF) action to one with a higher DoF utilizing an omnidirectional camera. The virtual rotation of the robot camera enables data augmentation in this transfer learning process. In this study, a vision-based control policy for a 6-DoF robot was trained using a dataset collected by a differential wheeled ground robot with only three DoFs. Towards application of robotic manipulations, we also demonstrate a control system of a 6-DoF arm robot using multiple policies with different fields of view to enable object reaching tasks.

Abstract (translated)

URL

https://arxiv.org/abs/2111.12213

PDF

https://arxiv.org/pdf/2111.12213.pdf


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