期刊名称：International Journal of Electrical and Computer Engineering
电子版ISSN：2088-8708
出版年度：2018
卷号：8
期号：2
页码：1230-1237
DOI：10.11591/ijece.v8i2.pp1230-1237
语种：English
出版社：Institute of Advanced Engineering and Science (IAES)
摘要：A robot may need to use a tool to solve a complex problem. Currently, tool use must be pre-programmed by a human. However, this is a difficult task and can be helped if the robot is able to learn how to use a tool by itself. Most of the work in tool use learning by a robot is done using a feature-based representation. Despite many successful results, this representation is limited in the types of tools and tasks that can be handled. Furthermore, the complex relationship between a tool and other world objects cannot be captured easily. Relational learning methods have been proposed to overcome these weaknesses. However, they have only been evaluated in a sensor-less simulation to avoid the complexities and uncertainties of the real world. We present a real world implementation of a relational tool use learning system for a robot. In our experiment, a robot requires around ten examples to learn to use a hook-like tool to pull a cube from a narrow tube.
其他摘要：A robot may need to use a tool to solve a complex problem. Currently, tool use must be pre-programmed by a human. However, this is a difficult task and can be helped if the robot is able to learn how to use a tool by itself. Most of the work in tool use learning by a robot is done using a feature-based representation. Despite many successful results, this representation is limited in the types of tools and tasks that can be handled. Furthermore, the complex relationship between a tool and other world objects cannot be captured easily. Relational learning methods have been proposed to overcome these weaknesses. However, they have only been evaluated in a sensor-less simulation to avoid the complexities and uncertainties of the real world. We present a real world implementation of a relational tool use learning system for a robot. In our experiment, a robot requires around ten examples to learn to use a hook-like tool to pull a cube from a narrow tube.
关键词：robot tool use;robot software architecture;tool use learning;action learning;inductive logic programming
