Name
Title | ||
|---|---|---|
Neurocognitive Shared Visuomotor Network for End-to-end Learning of Object Identification, Localization and Grasping on a Humanoid |
Abstract | ||
|---|---|---|
We present a unified visuomotor neural architecture for the robotic task of identifying, localizing, and grasping a goal object in a cluttered scene. The RetinaNet-based neural architecture enables end-to-end training of visuomotor abilities in a biological-inspired developmental approach. We demonstrate a successful development and evaluation of the method on a humanoid robot platform. The proposed architecture outperforms previous work on single object grasping as well as a modular architecture for object picking. An analysis of grasp errors suggests similarities to infant grasp learning: While the end-to-end architecture successfully learns grasp configurations, sometimes object confusions occur: when multiple objects are presented, salient objects are picked instead of the intended object. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/DEVLRN.2019.8850679 | 2019 Joint IEEE 9th International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob) |
Keywords | Field | DocType |
Developmental robotics,bio-inspired visuomotor learning,cognitive robotics | Cognitive robotics,Architecture,GRASP,Computer science,End-to-end principle,Developmental robotics,Human–computer interaction,Modular architecture,Neurocognitive,Humanoid robot | Conference |
ISSN | ISBN | Citations |
2161-9484 | 978-1-5386-8129-9 | 0 |
PageRank | References | Authors |
0.34 | 0 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Matthias Kerzel | 1 | 0 | 1.01 |
| Manfred Eppe | 2 | 63 | 11.60 |
| Stefan Heinrich | 3 | 0 | 0.34 |
| Fares Abawi | 4 | 0 | 0.34 |
| Stefan Wermter | 5 | 1100 | 151.62 |