Structured Motion Generation with Predictive Learning: Proposing Subgoal for Long-Horizon Manipulation
Namiko Saito,João Moura,Tetsuya Ogata,Marina Y. Aoyama,Shingo Murata,Shigeki Sugano,Sethu Vijayakumar,Namiko Saito,João Moura,Tetsuya Ogata,Marina Y. Aoyama,Shingo Murata,Shigeki Sugano,Sethu Vijayakumar
For assisting humans in their daily lives, robots need to perform long-horizon tasks, such as tidying up a room or preparing a meal. One effective strategy for handling a long-horizon task is to break it down into short-horizon subgoals, that the robot can execute sequentially. In this paper, we propose extending a predictive learning model using deep neural networks (DNN) with a Subgoal Proposal ...
