TY - GEN
T1 - Extracting and Transferring Hierarchical Knowledge to Robots Using Virtual Reality
AU - Zhang, Zhenliang
AU - Guo, Jie
AU - Weng, Dongdong
AU - Liu, Yue
AU - Wang, Yongtian
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/3
Y1 - 2020/3
N2 - We study the knowledge transfer problem by training a task of folding clothes in the virtual world using an Oculus Headset and validating with a physical Baxter robot. We argue such complex transfer is realizable if an abstract graph-based knowledge representation is adopted to facilitate the process. An And-Or-Graph (AOG) grammar model is introduced to represent the knowledge, which can be learned from the human demonstrations performed in the Virtual Reality (VR), followed by the case analysis of folding clothes represented and learned by the AOG grammar model. In the experiment, the learned knowledge from the given six virtual scenarios is implemented on a physical robot platform, demonstrating that the grammar-based knowledge is an effective representation.
AB - We study the knowledge transfer problem by training a task of folding clothes in the virtual world using an Oculus Headset and validating with a physical Baxter robot. We argue such complex transfer is realizable if an abstract graph-based knowledge representation is adopted to facilitate the process. An And-Or-Graph (AOG) grammar model is introduced to represent the knowledge, which can be learned from the human demonstrations performed in the Virtual Reality (VR), followed by the case analysis of folding clothes represented and learned by the AOG grammar model. In the experiment, the learned knowledge from the given six virtual scenarios is implemented on a physical robot platform, demonstrating that the grammar-based knowledge is an effective representation.
KW - Human computer interaction (HCI)
KW - Human-centered computing
KW - Interaction paradigms
KW - Virtual reality
UR - http://www.scopus.com/inward/record.url?scp=85085359010&partnerID=8YFLogxK
U2 - 10.1109/VRW50115.2020.00185
DO - 10.1109/VRW50115.2020.00185
M3 - Conference contribution
AN - SCOPUS:85085359010
T3 - Proceedings - 2020 IEEE Conference on Virtual Reality and 3D User Interfaces, VRW 2020
SP - 669
EP - 670
BT - Proceedings - 2020 IEEE Conference on Virtual Reality and 3D User Interfaces, VRW 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE Conference on Virtual Reality and 3D User Interfaces, VRW 2020
Y2 - 22 March 2020 through 26 March 2020
ER -