ソフトロボットを活用した工場現場における組み立て動作学習 / Soft-Robotic Learning for Industrial Assembly

濵屋, "ソフトロボットを活用した 工場現場における組み立て動作学習"（日本ロボット学会ヒューロビント研究専門委員会 若手ロボティクス研究会 招待講演）

Transcript

1. © 2021 OMRON SINIC X Corporation. All Rights Reserved. ソフトロボットを活⽤した⼯場現場に おける組み⽴て動作学習（招待講演） 濱屋 政志 （オムロンサイニックエックス） ⽇本ロボット学会ヒューロビント研究専⾨委員会 若⼿ロボティクス研究会 招待講演 Jan. 24, 2021
2. ९ইॺট঎ॵॺ॑ણ৷खञ ੵৃਠৃपउऐॊੌয়৾ಆ ⚗ો ৆ಂ ड़঒টথ१ॖॽॵॡग़ॵॡ५ઙૄভ঺
3. 2/32 © 2021 OMRON Corporation All Rights Reserved • ৽ഄ • 2019.3 পଚপ৾প৾੹ে୵ਃચଢ଼஢ఐఊവ ೗૒(ੵ৾) • 2014.4 – 2019.3 ATR ঈঞॖথট঎ॵॺॖথॱইख़ش५ଢ଼஢஼ ৾ਗৰಆে • 2019.4 ड़঒টথ१ॖॽॵॡग़ॵॡ५ઙૄভ঺ ३ॽ॔জ१شॳকش • ଢ଼஢भ௪௡ • ९ইॺট঎ॵॺؚ঄গشঐথট঎ॵॺॖথॱছॡ३ঙথؚট঎ॵॺ৾ಆ ঽഞງஂ ৣ࿔ਗ෗તট঎ॵॺभংছথ५਑౪ [Ugurlu+,TMECH 2015] ঱࿔ਗ෗તট঎ॵॺभઈ৿੍ର৾ಆ [Hamaya+, ICRA 2017, PR-L 2017] ਗ෗તট঎ॵॺभঔॹঝ৊৒ [Hamaya+, IROS 2017, IJRR 2019]
4. 3/32 © 2021 OMRON Corporation All Rights Reserved ड़঒টথॢঝشউহ঵໪ਏ 嵒嵔嵤嵣崡崌崫崩ಉ ੵৃঽ৿৲峘峉峫峘岝崣嵛崝岝崛嵛崰嵕嵤嵑岝 嵕嵄崫崰ಉ 5% 18% 13% 13% 51% Sensing & control + think 峇峘౎ 嵀嵓崡崙崊 ঺ভ崌嵛崽嵑 ਗ਼৕৖ષ ਑౪ਃஓ嵣FA崟崡崮嵈 崛嵛崰嵕嵤嵑嵣崣嵛崝ಉ ঽ৿੝ైਃ嵣ଊਲ਼ਃಉ ഷಓੑ嵣৬ആੑಉ ୬഻୾৅ਗ਼৷崌嵛崸嵤崧ಉ
5. 4/32 © 2021 OMRON Corporation All Rights Reserved 1. ऩछੌয়प९ইॺট঎ॵॺऋ૑ਏऩभऊ? • ਠ૾भਖ਻ਡृؚ९ইॺট঎ॵॺ॑ઞ৷घॊपඹढञା୳॑ງஂ 2. ९ইॺট঎ॵॺ॑ણ৷खञੌয়৾ಆभଢ଼஢হ୻ • नभेअऩ৾ಆૼ୒॑ઞ৷खथःॊऊؚট঎ॵॺী৙भয়ৃऊैງஂ ০৚भॸشঐ
6. 1. ऩछੌয়प९ইॺট঎ॵॺऋ૑ਏऩभऊ?
7. 6/32 © 2021 OMRON Corporation All Rights Reserved ਓ঵ট঎ॵॺभ೽ਏ https://morunuma.keymary.net/robotfactory/ https://www.khi.co.jp/rd/magazine/163/nj163tr01.html ષர ્ିেਓ প୤েਓ ੗ષர૘୤েਓ ট঎ॵॺ য৑ ୤
8. 7/32 © 2021 OMRON Corporation All Rights Reserved ੵৃभট঎ॵॺभয়ठ঱ऑपमᏓপऩग़থ४ॽ॔জথॢऋ૑ਏ ੗ષரपऩोयऩॊऺनेॉ३५ॸ঒मളහपऩॊ Ꮣপऩग़থ४ॽ॔জথॢ ७থ३থॢ৫৅: उेज1ऊা ট঎ॵॺ३५ॸ঒৫৅: 2~3 ऊা ७থ३থॢ ট঎ॵॺ؞ᄙ఻ ॱ५ॡਝੑ؞ਈి৲: 2~3ౝ৑ ३५ॸ঒ગਝੑ؞ગਈ ి৲: 1ऊা ॺছঈঝ য়ठ঱ऑ ༎௮
9. 8/32 © 2021 OMRON Corporation All Rights Reserved ୦ऋ୔खःभऊ? ৖ષभੌয়मःणु ॥থॱॡॺজॵॳॱ५ॡटऊै ॥থॱॡॺজॵॳॱ५ॡभ୻ • ३কইॺዠো • ॥ॿॡॱዠো • ਗ਼ਞ৚ଡ଼৖ષዠো • ॣش५भយ় • ॿ४ഁी • ५ॼॵউটॵॡዠো ؞ ؞ ؞ ऺ॒भ৵औऩෙ୷दुؚੌয়प धढथमಱ୵৓! https://www.tsukumo.co.jp/bto/faq/120005.html https://news.livedoor.com/article/detail/13932272/
10. 9/32 © 2021 OMRON Corporation All Rights Reserved ୦ऋ୔खःभऊ? ੗஘ऩ৖ષ॑ඞअ૑ਏऋँॊऊै ஘رऩপऌऔؚ஄ؚ༂ႆ॑੅ढञ • ॿ४ • ॣش५ • ॥ॿॡॱ ؞ ؞ ؞ য৑पधढथम৵औऩୀःटऋؚট ঎ॵॺपधढथमधथणुऩऎপऌ ऩୀः!
11. 10/32 © 2021 OMRON Corporation All Rights Reserved ਠ૾भ॔উটشॳ ෙ୷॑ൾ௾घॊञी୛োॉ ऩय़কজঈঞش३ঙথ ಱ୵৓ऩଷ૷॑ೂऐॊेअ ऩ୛োॉऩঔش३ঙথউছ থॽথॢ ੗஘ऩ৖ષपৌૢघॊञी भ੗஘ऩঁথॻृᄙ఻ ਠ૾भট঎ॵॺ३५ॸ঒ಖ২॑ா଒पऽद୯੷घॊञीؚৈ੼दളහ जोॅइৈ২ऩग़থ४ॽ॔জথॢऋਏ੷औोॊ
12. 11/32 © 2021 OMRON Corporation All Rights Reserved য৑भ৿੿पା৯ From the WRC2018 assembly task ঄ॺभুमট঎ॵॺऺनਫનदमऩःऋؚളහऩੌয়॑ઍಔपदऌॊ
13. 12/32 © 2021 OMRON Corporation All Rights Reserved ऩछয৑मල౐पੌয়ऋदऌॊभऊ? From the WRC2018 assembly task ९ইॺऔ? ෙ୷॑ลઽखಱ୵৓ऩଷ૷॑ೂऐॊ
14. 13/32 © 2021 OMRON Corporation All Rights Reserved றੱधऩॊ॔ॖॹ॔ ਂનৰਙृෙ୷॑ಅઍघॊৗञऩট঎ॸॕॡ५ ९ইॺট঎ॵॺ × ৾ಆ × ଳಁ؞ඡಁ७থ३থॢ ৾ಆ ९ইॺ ট঎ॵॺ ଳಁ ඡಁ ਍৸ਙ ૾ଙ௓৒ ິ୲ਙ & ॔ॡॸॕঈॱॵॳ ളහऩ ঔॹজথॢ ஍૨৓ऩ਀ਠ ेॉ௹୕ऩੲਾ
15. 14/32 © 2021 OMRON Corporation All Rights Reserved ৐઄৖ীभऽधी ছॖॺक़ख़ॖॺ ฑैऊট঎ॵॺ যੵ൙෿؞૬ಓ SEA؞यब؞ॲথঃ ৡඡಁ ଳಁ७থ३থॢ ॹشॱॻজঈথ ঔॹজথॢ قਃ༊৾ಆك Next robots: global solution? ଩॥५ॺؚৈசؚල౐উটॢছ঑থॢ؞؞؞ ট঎ॵॺ ৈྌਙ ৈಖ২ট঎ॵॺ १ش঎ ੖சਃ ଳಁ७থ३থ ॢৈಖ২৲ ৈ॥५ॺؚৈग़থ४ॽ॔জথॢ॥५ॺؚग़य़५ ঃشॺ؞؞؞ ো୛ऩঔش ३ঙথউছথ ॽথॢ Current robots: local solution? ੗஘ऩঁথॻ ृᄙ఻
16. 2. ९ইॺট঎ॵॺ॑ણ৷खञੌয়৾ಆभଢ଼஢হ୻
17. 16/32 © 2021 OMRON Corporation All Rights Reserved 1. ੌाয়थभेअऩ॥থॱॡॺজॵॳॱ५ॡपৌૢदऌॊ९ইॺট঎ॵॺ৫৅ 2. ९ইॺট঎ॵॺ॑਑౪घॊञीभ৾ಆૼ୒ 3. ग़থ४ॽ॔জথॢ॥५ॺ॑చ੖घॊञीभ৾ಆૼ୒ ଢ଼஢হ୻भ໪ਏ ฑྌજॉ౹इ૭ચऩ९ইॺট঎ॵॺ ਘ৲৾ಆ॑৷ःञ஍૨৓ऩ৾ಆ਑౪ ૡ୎ਘ৲৾ಆ ॹঔথ५ॺঞش३ঙথभણ৷ Sim-to-Real
18. 17/32 © 2021 OMRON Corporation All Rights Reserved • ९ইॺট঎ॵॺम୭୆धभ਍৸ऩமඡऋ૭ચ • ঳্ؚ९ইॺऔभचःदؚਂਏऩஷ৿ृณोऋেगॊ A compact, cable-driven, activatable soft robot wrist for assembly [Tanaka and Drigalski et al., IROS 2020] ९ইॺট঎ॵॺ৫৅ ณो ਍৸ऩமඡ
19. 18/32 © 2021 OMRON Corporation All Rights Reserved • ॣشঈঝฌ৿भฑྌજॉ౹इ૭ચऩু੣ Æ జਟभট঎ॵॺपઍಔपి৷૭ચ • 3଻भংॿदॢজॵঃध॔ش঒॑மਢؚ6ঽ૓২भ૗ਜ਼ऋ૭ચ ९ইॺট঎ॵॺ৫৅ A compact, cable-driven, activatable soft robot wrist for assembly [Tanaka and Drigalski et al., IROS 2020] ঌॢॖথॱ५ॡपउऐॊૻຎ Soft Hard ฑྌજॉ౹इ ਝੑ໪ਏ௕
20. 19/32 © 2021 OMRON Corporation All Rights Reserved • ॥থॱॡॺজॵॳध९ইॺऔभचःदঔॹঝऋളහ • ੵৃभசःয়ठ঱ऑभञीؚ஍૨৓प৾ಆखञः • ੰৠभञीभ॔ॖॹ॔ 1. १ঈॱ५ॡपયী৲ ؚ૚ॱ५ॡ॑଩ઃ੪भ૾ଙ؞ষ৿૬৑द਀ਠ૭ચ 2. फ़क़५ૌஙप੦तऎ஍૨৓ऩঔॹঝঋش५ਘ৲৾ಆ॑ి৷[Deisenroth et al., 2015] Learning Robotic Assembly Tasks with Lower Dimensional Systems by Leveraging Physical Softness and Environmental Constraints [Hamaya et al., ICRA 2020] ९ইॺট঎ॵॺभञीभ৾ಆ਑౪ १ঈॱ५ॡયী৲
21. 20/32 © 2021 OMRON Corporation All Rights Reserved • ૚१ঈॱ५ॡ॑ਯ৚ங২भ૥ষद৾ಆ૭ચ ९ইॺট঎ॵॺभञीभ৾ಆ਑౪ Learning Robotic Assembly Tasks with Lower Dimensional Systems by Leveraging Physical Softness and Environmental Constraints [Hamaya et al., ICRA 2020] १ঈॱ५ॡ “fit”भ৾ಆ ৾ಆ৏
22. 21/32 © 2021 OMRON Corporation All Rights Reserved • ট঎ॵॺभ਑౪৯ఏ(ਾີ)॑ਝੑघॊभमপ૗ • ঄ॺऊैभॹঔথ५ॺঞش३ঙথ(ઇં)॑ਹ৷ؚମ৬भୀःऋୖ਻ • ઉ૎৓ऩઇંऋदऌؚऩउऊणট঎ॵॺधभମ৬भୀःऋ৵औःॹংॖ५৫৅ Learning Soft Robotic Assembly Strategies from Successful and Failed Demonstrations [Hamaya et al., IROS 2020] ग़থ४ॽ॔জথॢ॥५ॺभచ੖: ॹঔথ५ॺঞش३ঙথभણ৷ ઇંॹংॖ५पेॊઇં ট঎ॵॺ
23. 22/32 © 2021 OMRON Corporation All Rights Reserved • ਛ඘ཾ੊धଷ૷ཾ੊भ૏্॑ણ৷खؚਾີঢ়ਯ(৯ఏཾ੊)॑ਝੑ • ॽগشছঝॿॵॺডشॡ॑৷ःञঔॹঝঋش५ਘ৲৾ಆ[Chua et al., 2018] Learning Soft Robotic Assembly Strategies from Successful and Failed Demonstrations [Hamaya et al., IROS 2020] ग़থ४ॽ॔জথॢ॥५ॺभచ੖: ॹঔথ५ॺঞش३ঙথभણ৷ ৾ಆૌங ଷ૷؞ਛ඘ॹঔऊै ਛ඘ॹঔभा
24. 23/32 © 2021 OMRON Corporation All Rights Reserved • ౮ऩॊ৖ષपৌखथुሑ৲दऌॊेअपखञः • ૡ୎ਘ৲৾ಆऋથ஦ऩ॔উটشॳ • ളਯभ९ش५୭୆ऊैؚ౞ੴभॱش।ॵॺ୭୆पిૢदऌॊ্ੁ॑৾ಆ • ঳ಹ৓ऩ্১दमૡ୎্ੁभ৾ಆभञीप૚९ش५୭୆षभ॔ॡ७५ऋ૑ਏ MULTIPOLAR: Multi-Source Policy Aggregation for Transfer Reinforcement Learning between Diverse Environmental Dynamics [Barekatain et al., IJCAI 2020] ग़থ४ॽ॔জথॢ॥५ॺभచ੖: ૡ୎ਘ৲৾ಆ ౮ऩॊঌॢृาदभঌॢॖথॱ५ॡ ९ش५୭୆1 ९ش५୭୆2 ؞؞؞ ९ش५୭୆ܭ ૡ୎਑౪্ੁ
25. 24/32 © 2021 OMRON Corporation All Rights Reserved • MULTIPOLAR: MULTI-source POLicy AggRegation • ९ش५୭୆षभ॔ॡ७५॑૑ਏधचङؚ૚୭୆दघदप৾ಆऔोञ্ੁभा॑ઞ৷ ग़থ४ॽ॔জথॢ॥५ॺभచ੖: ૡ୎ਘ৲৾ಆ MULTIPOLAR: Multi-Source Policy Aggregation for Transfer Reinforcement Learning between Diverse Environmental Dynamics [Barekatain et al., IJCAI 2020] ९ش५୭୆1 ؞؞؞ ९ش५୭୆ܭ ૡ୎্ੁ ९ش५୭୆1 ؞؞؞ ९ش५୭୆ܭ ૡ୎্ੁ State ݏ௧ Auxiliary network for predicting residuals: ܨୟ୳୶ ݏ௧ ; ߠୟ୳୶ ߠaux Continuous action space: ߨ୲ୟ୰୥ୣ୲ ؠ ࣨ ܨ ݏ௧ ; ܮ, ߠୟ୥୥ , ߠୟ୳୶ , ȭ ߤଵ ߤଶ ߤ௄ … Source policies ܮ = ߤଵ , … , ߤ௄ … ٖ ܣ௧ … ߠagg Adaptive aggregation of source policies: ܨୟ୥୥ ݏ௧ ; ܮ, ߠୟ୥୥ ܨ ݏ௧ ; ܮ, ߠୟ୥୥ , ߠୟ୳୶ + జਟু১ MULTIPOLAR
26. 25/32 © 2021 OMRON Corporation All Rights Reserved • ५ॡছॵॳऊैभ৾ಆेॉ஍૨৓प৾ಆखਙચऋৈःऒध॑ંखञ ग़থ४ॽ॔জথॢ॥५ॺभచ੖: ૡ୎ਘ৲৾ಆ MULTIPOLAR Learning from scratch Ant Hopper MULTIPOLAR: Multi-Source Policy Aggregation for Transfer Reinforcement Learning between Diverse Environmental Dynamics [Barekatain et al., IJCAI 2020]
27. 26/32 © 2021 OMRON Corporation All Rights Reserved • ৰট঎ॵॺपઞ৷घॊपमऔैऩॊ१থউঝ஍૨ਙऋ੎ਏ • ॲॖॼ঑ॡ५ঔॹঝૐ৺खؚঔॹঝঋش५ਘ৲৾ಆ॑ి৷ TRANS-AM: Transfer Learning by Aggregating Dynamics Models for Soft Robotic Assembly [Tanaka et al., under review] ग़থ४ॽ॔জথॢ॥५ॺभచ੖: ૡ୎ਘ৲৾ಆ ॲॖॼ঑ॡ५ঔॹঝૐ৺ ౮ऩॊഓ২भา॑੅ण୭୆षभૡ୎
28. 27/32 © 2021 OMRON Corporation All Rights Reserved • धपऊऎৰਃदभ৾ಆमधथुপ૗! • Sim-to-Real ૡ୎৾ಆऋથ஦ • ੗஘ऩ୭୆षभSim-to-Realमൂேधखथ൑୔ ग़থ४ॽ॔জথॢ॥५ॺभచ੖: Sim-to-Realૡ୎৾ಆ EXI-Net: EXplicitly/Implicitly Conditioned Network for Multiple Environment Sim-to-Real Transfer [Murooka et al., CoRL 2020]
29. 28/32 © 2021 OMRON Corporation All Rights Reserved • EXI-Net (EXplicitly/Implicitly Conditioned Network) • ৥ં৓(ସ୤ृ༂ႆ)؞พં৓(੟৬भ஄૾ऩन)ॲॖॼ঑ॡ५ঃছওشॱद૖੯હऐ • ॺঞشॽথॢৎपम৥ં৓ঃছওشॱ॑ଖइथॿॵॺডشॡ॑৾ಆ • ౞ੴ୭୆दभॸ५ॺৎपमؚ৥ં৓؞พં৓ঃছওشॱ॑ड़থছॖথद௓৒ EXI-Net: EXplicitly/Implicitly Conditioned Network for Multiple Environment Sim-to-Real Transfer [Murooka et al., CoRL 2020] ग़থ४ॽ॔জথॢ॥५ॺभచ੖: Sim-to-Realૡ୎৾ಆ
30. 29/32 © 2021 OMRON Corporation All Rights Reserved • జਟু১द঳ಹ৓पઞॎोथःॊॿॵॺডشॡेॉৈःਛ඘૨॑ંखञ Learning from knowledge of previous experiences ੟৬ LSTM ઀੧ু১ 0.72 1.0 0.69 0.98 0.92 1.0 0.5 1.0 0.6 0.9 0.5 1.0 0.5 1.0 EXI-Net: EXplicitly/Implicitly Conditioned Network for Multiple Environment Sim- to-Real Transfer [Murooka et al., CoRL 2020]
31. 30/32 © 2021 OMRON Corporation All Rights Reserved • ९ইॺট঎ॵॺपेॊੵৃਠৃपउऐॊੌয় • ෙ୷ृਂનৰਙ॑ಅઍखؚेॉ৵औऩग़থ४ॽ॔জথॢ॥५ॺधऩॊ૭ચਙऋँॊ • ९ইॺট঎ॵॺ॑ણ৷खञଢ଼஢হ୻ • ॣشঈঝฌ৿भฑྌજॉ౹इু੣ • ஍૨৓ऩੌয়৿੿৾ಆ • ਛ඘؞ଷ૷ॹঔথ५ॺঞش३ঙথपेॊ৾ಆ • ্ੁ؞ঔॹঝभૐ৺पेॊૡ୎ਘ৲৾ಆ • ੗஘ऩ୭୆पిૢ૭ચऩSim-to-Realૡ୎৾ಆ ৸৬भऽधी
32. 31/32 © 2021 OMRON Corporation All Rights Reserved • ඡಁ७থ१ऩन॑ੌा়ॎचञঐঝॳঔشॲঝੌয়৾ಆ • In-hand-pose estimation [Drigalski et al., ICRA 2020] • ঈছॖথॻঅথআॵय़থॢभञीभIn-hand manipulation [Ishige et al., IROS 2020] • ඡಁ७থ१ऩनभ૾ଙ௓৒ૼ୒धੌয়৿੿भੌा়ॎच • ੵৃਠৃटऐदऩऎੇ൦ऩन঳ಹ৓਱ऐप९ইॺট঎ॵॺ॑൤఺ • ਍৸ਙभ૿৳ऋ੎ਏؚ੟৶৓ऩ਍৸ਙध਑౪৓ऩ਍৸ਙ॑ન৳ • Safe & recovery RLध९ইॺট঎ॵॺभ੆় ன஦ In-hand pose estimation [Drigalski et al., ICRA 2020] In-hand manipulation [Ishige et al., IROS 2020]
33. 32/32 © 2021 OMRON Corporation All Rights Reserved ઔੴ ট঎ॵॺपेॊॹॕ॔঎ট [Drigalski and Joshi et al., under review] ॖথॱشথ३ॵউपओ௪௡भँॊ্म छऱਰৣभ॔ॻঞ५ऊैओ৴൪ऎटऔः! internships@sinicx.com
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