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jhu-lcsr / costar_plan

Integrating learning and task planning for robots with Keras, including simulation, real robot, and multiple dataset support.
https://sites.google.com/site/costardataset
Apache License 2.0
67 stars 23 forks source link

BlockStackingReader support for Action success classifier for use on real robot #517

Open ahundt opened 6 years ago

ahundt commented 6 years ago

We need a classifier and to add the code to train it for robot actions.

Vector Input: current position/orientation, regressed goal position/orientation, action identifier

Image input: Initial timestep, current timestep

Output (2 versions):

  1. Will this action succeed? (0 false -> 1 true)
  2. Should we actuate the gripper now / trigger a switch to the next action? (0 false -> 1 true)