Joni Kämäräinen — accepted AI-conference papers

2020

Learning a Pile Loading Controller from Demonstrations

Wenyan Yang, Nataliya Strokina, Nikolay Serbenyuk, Reza Ghabcheloo, Joni Kämäräinen

ICRA 2020poster

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 signa…

Cited by 12 Source ↗Scholar ↗

2019

Neural Network Pile Loading Controller Trained by Demonstration

Eric Halbach, Joni Kämäräinen, Reza Ghabcheloo

ICRA 2019poster

This paper presents the development and testing of end-to-end Neural Network (NN) controllers for automated pile loading with a robotic wheel loader. NNs were trained using the Learning from Demonstration approach, i.e. by first recording sensor and control signals during manually-driven pile loadin…

Cited by 24 Source ↗Scholar ↗