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APPLD: Adaptive Planner Parameter Learning From Demonstration Xuesu - PowerPoint PPT Presentation

Jul 27, 2023 •411 likes •530 views

APPLD: Adaptive Planner Parameter Learning From Demonstration Xuesu Xiao 1* , Bo Liu 1* , Garrett Warnell 2 , Jonathan Fink 2 , and Peter Stone 1 1 The University of Texas at Austin 2 Army Research Laboratory * Equally Contributing Authors 1 LfD

  1. APPLD: Adaptive Planner Parameter Learning From Demonstration Xuesu Xiao 1* , Bo Liu 1* , Garrett Warnell 2 , Jonathan Fink 2 , and Peter Stone 1 1 The University of Texas at Austin 2 Army Research Laboratory * Equally Contributing Authors 1

  2. LfD for Improved Robot Navigation Motivation: Deploying an autonomous navigation system in a new environment is not as straightforward as it may seem. 2

  3. LfD for Improved Robot Navigation Inspiration: Humans do this effortlessly. 3

  4. LfD for Improved Robot Navigation Central Question: Can we squeeze more robust performance out of our existing navigation systems using LfD and limited human interaction? LfD? ROS move_base navigation stack 4

  5. LfD for Improved Robot Navigation Proposed : Use behavioral cloning to “tune” any navigation stack. tuning parameters sensor data motor commands Behavioral Cloning : Learn parameters from a demonstration using supervised learning. 5

  6. LfD for Improved Robot Navigation Context Problem: Humans exhibit qualitatively different navigation behaviors in qualitatively different environments. 6

  7. LfD for Improved Robot Navigation APPLD: Adaptive planner parameter learning from demonstration 1. Collect demonstration. 2. Perform automatic demonstration segmentation. 3. Use black-box optimization to find set of optimal parameters. 4. Use supervised learning to train a context predictor. 7

  8. LfD for Improved Robot Navigation APPLD Deployment 8

  9. LfD for Improved Robot Navigation Experiments Robot : Clearpath Jackal (Velodyne Puck lidar) Human : An author (Xbox wireless controller) Environment : Challenging obstacle course 9

  10. Results APPLD: Deployment in demonstration environment 10

  11. Results Xuesu Xiao xiao@cs.utexas.edu Different robot, navigation stack, and environment 11

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