2023 Fiscal Year Final Research Report
Discrete and Continuous Reinforcement Learning with a Library of Skills and its Application to Robotic Food Manipulation
| Project/Area Number |
21K12070
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 61050:Intelligent robotics-related
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| Research Institution | Tohoku University |
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Principal Investigator |
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| Project Period (FY) |
2021-04-01 – 2024-03-31
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| Keywords | ロボットラーニング / 強化学習 / ロボットマニピュレーション |
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| Outline of Final Research Achievements |
In this research, I proposed "discrete-continuous reinforcement learning" as a problem of simultaneously optimizing and learning combinations of skills expressed in a discrete form and continuous parameters of each skill, and aimed to construct a method to realize this learning framework. This mechanism enables robots to perform sophisticated object manipulation. Robot cooking was selected as a task where the characteristics of this learning and reasoning mechanism can be best demonstrated, and research and development was conducted.
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| Free Research Field |
ロボティクス
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| Academic Significance and Societal Importance of the Research Achievements |
食品を対象とするような物体操作では，対象物が食材という柔軟不定形物であり，人間はいとも簡単にこれらの対象物を操作する一方で，ロボットや機械による自動化が難しいタスクとして知られていた．このため，食品産業においても，人手不足に代表される社会課題があるにもかかわらず，自動化が進んでいないプロセスとして残っている．このようなタスクに対するソリューションとして，離散連続強化学習が開発できればインパクトは大きく，社会的意義がある．
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