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Bayesian Policy Optimization for Waste Crane With Garbage Inhomogeneity
http://hdl.handle.net/10061/0002000121
http://hdl.handle.net/10061/000200012171fab1f4-5a2e-4d11-8e2d-78c1e55958df
| アイテムタイプ | 学術雑誌論文 / Journal Article(1) | |||||||||||
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| 公開日 | 2024-02-07 | |||||||||||
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| タイトル | Bayesian Policy Optimization for Waste Crane With Garbage Inhomogeneity | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| キーワード | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | AI-Based methods | |||||||||||
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| 主題Scheme | Other | |||||||||||
| 主題 | automation technologies for smart cities | |||||||||||
| キーワード | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | industrial robots | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ | journal article | |||||||||||
| アクセス権 | ||||||||||||
| アクセス権 | open access | |||||||||||
| 著者 |
佐々木, 光
× 佐々木, 光× Hirabayashi, Terushi
× Kawabata, Kaoru
× Onuki, Yukio
× 松原, 崇充 |
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| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | The objective of this study is to develop a framework that can optimize control policies of a waste crane at a waste incineration plant through an autonomous trial and error manner. Since a waste crane is a massive mechanical system that moves slowly and takes several minutes to execute a task, obtaining data samples by executing tasks is very costly. Moreover, no sensors are available that can observe the state of the grasped flammable waste composed of various materials with different degrees of hardness and wetness. Therefore, the inhomogeneity of waste causes unpredictable fluctuation in the crane's task performance. To cope with these problems, we propose a framework for optimizing the policy parameters of a parameterized control policy with Multi-Task Robust Bayesian Optimization (MTRBO). Our framework features the following two characteristics: (1) outlier robustness against garbage inhomogeneity and (2) sample reuse from previously solved tasks to enhance its sample efficiency. To investigate the effectiveness of our framework, we conducted experiments on garbage-scattering tasks with (i) a robot waste crane with pseudo-garbage and (ii) an actual waste crane at a waste incineration plant. Experimental results demonstrate that our framework robustly optimized the control policies of the garbage cranes, even with a much reduced amount of data under the influence of garbage inhomogeneity. | |||||||||||
| 書誌情報 |
en : IEEE Robotics and Automation Letters 巻 5, 号 3, p. 4533-4540, 発行日 2020-06-15 |
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| 出版者 | ||||||||||||
| 出版者 | IEEE | |||||||||||
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| 収録物識別子タイプ | EISSN | |||||||||||
| 収録物識別子 | 2377-3766 | |||||||||||
| 出版者版DOI | ||||||||||||
| 関連タイプ | isReplacedBy | |||||||||||
| 識別子タイプ | DOI | |||||||||||
| 関連識別子 | https://doi.org/10.1109/LRA.2020.3002204 | |||||||||||
| 出版者版URI | ||||||||||||
| 関連タイプ | isReplacedBy | |||||||||||
| 識別子タイプ | URI | |||||||||||
| 関連識別子 | https://ieeexplore.ieee.org/abstract/document/9116994 | |||||||||||
| 権利 | ||||||||||||
| 権利情報Resource | https://creativecommons.org/licenses/by/4.0/ | |||||||||||
| 権利情報 | IEEE is not the copyright holder of this material. This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/ | |||||||||||
| 著者版フラグ | ||||||||||||
| 出版タイプ | NA | |||||||||||
