Autonomous robotic arm manipulation for planetary missions using causal machine learning

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dc.contributor.authorMcDonnell, Cian
dc.contributor.authorArana-Catania, Miguel
dc.contributor.authorUpadhyay, Saurabh
dc.date.accessioned2023-10-26T10:05:37Z
dc.date.available2023-10-26T10:05:37Z
dc.date.issued2023-10-20
dc.description.abstractAutonomous robotic arm manipulators have the potential to make planetary exploration and in-situ resource utilization missions more time efficient and productive, as the manipulator can handle the objects itself and perform goal-specific actions. We train a manipulator to autonomously study objects of which it has no prior knowledge, such as planetary rocks. This is achieved using causal machine learning in a simulated planetary environment. Here, the manipulator interacts with objects, and classifies them based on differing causal factors. These are parameters, such as mass or friction coefficient, that causally determine the outcomes of its interactions. Through reinforcement learning, the manipulator learns to interact in ways that reveal the underlying causal factors. We show that this method works even without any prior knowledge of the objects, or any previously collected training data. We carry out the training in planetary exploration conditions, with realistic manipulator models.en_UK
dc.identifier.citationMcDonnell C, Arana-Catania M, Upadhyay S. (2023) Autonomous robotic arm manipulation for planetary missions using causal machine learning. In: ASTRA 2023: 17th Symposium on Advanced Space Technologies in Robotics and Automation, 18-20 October 2023, Leiden, The Netherlandsen_UK
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/20452
dc.language.isoenen_UK
dc.publisherEuropean Space Agency (ESA)en_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectPlanetary manipulatorsen_UK
dc.subjectreinforcement learningen_UK
dc.subjectinteraction-based learningen_UK
dc.subjectplanetary explorationen_UK
dc.subjectcausal analysisen_UK
dc.titleAutonomous robotic arm manipulation for planetary missions using causal machine learningen_UK
dc.typeConference paperen_UK

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