Introduction to RoboCup@HomeImitation learning applied to domestic service robot tasks

Komei SugiuraNational Institute of Information and Communication Technology, Japankomei.sugiura@nict.go.jp

2013/12/13

RoboCup@Home: Benchmark tests for domestic robots

• RoboCup@Home: The largest competition for domestic robots– One of the major RoboCup leagues– Focuses on human-robot interaction and mobile manipulation– Robots are evaluated by 7 standardized and 3 demonstration tasks

• Info– >200 participants from 15 countries– 6-10 members/team

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Difficulties• Mobile manipulation

– Navigation in unknown environments – Surrounded by spectators– Real shop environments– Manipulation of everyday objects

• Human robot interaction– Very noisy environments– Robust dialogue management– Gesture recognition

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Standard test 1: Cocktail Party

Item Max score Best team Average

Detecting the calling persons 150 x 3 300 95

Understanding human/drink names 100 x 3 300 108

Delivering correct ordered drinks 200 x 3 400 31.6

• Task: learn and recognize unknown persons, and deliver drinks

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Standard test 2: Restaurant

Item Score Best team Average

Reaching a location in the guide phase 50 x 5 250 143

Reaching a location in the navigation phase 100 x 4 200 50

Grasping the correct objects 250 x 3 500 45

• Task: Retrieve three objects in an unknown environment e.g. restaurant• Environment: a real restaurant (robots are transported)

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Standard test 3: Enduring General Purpose Service Robots

• NimbRo (Bonn University)

LCore Applied (1): Imitation learning for household activities

“Throw-into.” ( with demonstrating motions several times)(Estimates relative objects and learns motion trajectories)

Teacher:Robot:

“Throw a plastic bottle into a dust bin.”

(Searches for the objects and executes “throw-into” motion)User:Robot:

Dialog example

LCore Applied (2): Learning unknown words

• Difficulty: low phoneme recognition accuracy• Proposed

– Learns phoneme sequence with waveform– Voice conversion using EigenVoice Gaussian Mixture Model*[Toda+ 2007]

Evaluation using CMOS metric• proposed method outperformed baseline

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