Current Result Document :
| 한글제목(Korean Title) |
로봇 물따르기 조작 스킬 학습을 위한 시뮬레이션 기반 훈련 프레임워크 구현 |
| 영문제목(English Title) |
Implementation of Simulation based Training Framework for Learning Robotic Pouring Water Skill |
| 저자(Author) |
김태우
장민수
김재홍
Taewoo Kim
Minsu Jang
Jaehong Kim
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| 원문수록처(Citation) |
VOL 45 NO. 01 PP. 2565 ~ 2567 (2022. 06) |
한글내용
(Korean Abstract) |
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영문내용
(English Abstract) |
Imitation learning is one of the preferred approaches for learning complex and long-horizon robotic tasks, however, gathering the dataset for it requires lots of time and cost. To reduce such a cost, in this paper, we introduce our implementation result of training framework which is cost efficient in dataset collection. Through the GPU-accelerated simulator Isaac Gym and our object-oriented path generation method, we could achieve that gathering 50GB demonstration dataset within 25 minutes, in a randomized environment. We validated the dataset generated from our framework by robotic pouring water skill learning. |
| 키워드(Keyword) |
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| 파일첨부 |
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