
Object pose estimation methods allow finding locations of objects in unstructured environments. This is a highly desired skill for autonomous robot manipulation as robots need to estimate the precise poses of the objects in order to manipulate them. In this paper, we investigate the problems of tactile pose estimation and manipulation for category-level objects. Our proposed method uses a Bayes filter with a learned tactile observation model and a deterministic motion model. Later, we train policies using deep reinforcement learning where the agents use the belief estimation from the Bayes filter. Our models are trained in simulation and transferred to the real world. We analyze the reliability and the performance of our framework through a series of simulated and real-world experiments and compare our method to the baseline work. Our results show that the learned tactile observation model can localize the pose of novel objects at 2-mm and 1-degree resolution for position and orientation, respectively. Furthermore, we experiment on a bottle opening task where the gripper needs to reach the desired grasp state to open the bottle cap.

Tactile Pose Estimation and Policy Learning for Unknown Object Manipulation

In robotics, it is often not possible to learn useful policies using pure model-free reinforcement learning without significant reward shaping or  curriculum learning. As a consequence, many researchers rely on expert demonstrations to guide learning. However, acquiring expert  demonstrations can be expensive. This paper proposes an alternative approach where the solutions of previously solved tasks are used to produce an action prior that can facilitate exploration in future tasks. The action prior is a probability distribution over actions that summarizes the set of policies found solving previous tasks. Our results indicate that this approach can be used to solve robotic manipulation problems that would otherwise be infeasible without expert demonstrations. Source code is available at https://github.com/ondrejba/action_priors.

Action Priors for Large Action Spaces in Robotics


**Session Chair:** <br><br> Elizabeth Sklar

Oral Session 2C2-1

technical paper

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AAMAS (International Conference on Autonomous Agents and Multiagent Systems) is the largest and most influential conference in the area of agents and multiagent systems. The aim of the conference is to bring together researchers and practitioners in all areas of agent technology and to provide a single, high-profile, internationally renowned forum for research in the theory and practice of autonomous agents and multiagent systems. AAMAS is the flagship conference of the non-profit International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS).

S6: Reinforcement Learning 2

AAMAS is the largest and most influential conference in the area of agents and multiagent systems, bringing together researchers and practitioners in all areas of agent technology and providing and internationally renowned high-profile forum for publishing and finding out about the latest developments in the field. AAMAS is the flagship conference of the non-profit International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS).  

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Robert Platt

2

Presentations

Tactile Pose Estimation and Policy Learning for Unknown Object Manipulation

Action Priors for Large Action Spaces in Robotics