タスク重要部位の位置合わせで物体間インタラクションの模倣を改善
Task-Critical Part Alignment Improves Imitation of Object Interactions
DINOBotの模倣学習を改良し、RANSACによる外れ値除去とタスク関連領域への意味対応の絞り込みで、実機の把持・挿入・振り・注ぎタスクの成功率を13.8%向上させた。
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著者: Denis Hadjivelichkov, Sebastian Ægidius, Valerio Modugno, Dimitrios Kanoulas
分類: cs.RO, cs.CV
原文アブストラクト
This paper presents enhancements to the DINOBot framework for imitation learning of object-object interactions. We introduce two key contributions aimed at improving the accuracy and efficiency of alignment in imitation-based robotic tasks. First, we integrate RANdom SAmple Consensus (RANSAC) for outlier rejection during the alignment phase, effectively mitigating the impact of noisy depth data and spurious feature matches. This improves robustness when transferring demonstrations to real-world applications. Second, we refine the semantic correspondence process by focusing on task-relevant interaction regions, ensuring that the learned representation prioritizes critical object features that influence successful manipulation. We evaluated our approach in a range of real-world manipulation tasks, including picking, insertion, shaking, and pouring, using a robotic system. The experimental results demonstrate an overall improvement of 13.8% in task success rates compared to the baseline, along with faster convergence in the alignment process. These results highlight the effectiveness of our enhancements in improving precision and efficiency for object-object interaction imitation in robotics.