Learning a Pile Loading Controller from Demonstrations
Wenyan Yang,Nataliya Strokina,Nikolay Serbenyuk,Reza Ghabcheloo,Joni Kämäräinen,Wenyan Yang,Nataliya Strokina,Nikolay Serbenyuk,Reza Ghabcheloo,Joni Kämäräinen
This work introduces a learning-based pile loading controller for autonomous robotic wheel loaders. Controller parameters are learnt from a small number of demonstrations for which low level sensor (boom angle, bucket angle and hydrostatic driving pressure), egocentric video frames and control signals are recorded. Application specific deep visual features are learnt from demonstrations using a Si...
