Assistive Gym: A Physics Simulation Framework for Assistive Robotics
| Autor: | C. Karen Liu, Zackory Erickson, Charles C. Kemp, Vamsee Gangaram, Ariel Kapusta |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Computer Science - Machine Learning Activities of daily living Computer science Computer Science - Artificial Intelligence media_common.quotation_subject Robot manipulator 02 engineering and technology Machine Learning (cs.LG) Computer Science - Robotics Artificial Intelligence (cs.AI) 020901 industrial engineering & automation Quality of life (healthcare) Human–computer interaction 0202 electrical engineering electronic engineering information engineering Robot Reinforcement learning 020201 artificial intelligence & image processing Dynamical simulation Function (engineering) Assistive robotics Robotics (cs.RO) media_common |
| Zdroj: | ICRA |
| Popis: | Autonomous robots have the potential to serve as versatile caregivers that improve quality of life for millions of people worldwide. Yet, conducting research in this area presents numerous challenges, including the risks of physical interaction between people and robots. Physics simulations have been used to optimize and train robots for physical assistance, but have typically focused on a single task. In this paper, we present Assistive Gym, an open source physics simulation framework for assistive robots that models multiple tasks. It includes six simulated environments in which a robotic manipulator can attempt to assist a person with activities of daily living (ADLs): itch scratching, drinking, feeding, body manipulation, dressing, and bathing. Assistive Gym models a person's physical capabilities and preferences for assistance, which are used to provide a reward function. We present baseline policies trained using reinforcement learning for four different commercial robots in the six environments. We demonstrate that modeling human motion results in better assistance and we compare the performance of different robots. Overall, we show that Assistive Gym is a promising tool for assistive robotics research. 8 pages, 5 figures, 2 tables |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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