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arXiv · 2301.08794

Robot Skill Learning Via Classical Robotics-Based Generated Datasets: Advantages, Disadvantages, and Future Improvement

Batu Kaan Oezen
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Abstract

Why do we not profit from our long-existing classical robotics knowledge and look for some alternative way for data collection? The situation ignoring all existing methods might be such a waste. This article argues that a dataset created using a classical robotics algorithm is a crucial part of future development. This developed classic algorithm has a perfect domain adaptation and generalization property, and most importantly, collecting datasets based on them is quite easy. It is well known that current robot skill-learning approaches perform exceptionally badly in the unseen domain, and their performance against adversarial attacks is quite limited as long as they do not have a very exclusive big dataset. Our experiment is the initial steps of using a dataset created by classical robotics codes. Our experiment investigated possible trajectory collection based on classical robotics. It addressed some advantages and disadvantages and pointed out other future development ideas.

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Batu Kaan Oezen. 2023-01-20. Robot Skill Learning Via Classical Robotics-Based Generated Datasets: Advantages, Disadvantages, and Future Improvement. https://arxiv.org/abs/2301.08794

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