MAkEable

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http://youtube.com/watch?v=lmzcFXVF_E0

The MAkEable framework enhances mobile manipulation in settings designed around humans by streamlining the process of sharing learned skills and experiences among different robots and contexts. It achieves this by embedding an affordance-based approach to task description within the memory-oriented cognitive framework used by the ARMAR family of humanoid robots. This allows for the efficient exchange of experiences beneficial for transfer learning. MAkEable's use of affordances as a means of action representation establishes a comprehensive system for the autonomous handling of both familiar and novel objects across varied settings. Practical tests confirm its efficiency in a range of scenarios, involving different robots, in tasks such as object grasping, coordinated use of both hands in tasks, and the exchange of skills among humanoid robots. • Project Page: https://mobilemanipulationpipeline-sw... • Paper: https://h2t.iar.kit.edu/pdf/PohlReist...

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