Lifelong Learning for Autonomous Versatile and Flexible Robotic Grasping System in the Circular Factory (C06#)

• Subject Area: Automation, Mechatronics, Control Systems, Intelligent Technical Systems, Robotics
• Term: since 2024
• Project identifier: Deutsche Forschungsgemeinschaft (DFG) - Project number 471687386

The main goal of this project is to develop a lifelong grasp learning system for intralogistics handling and manipulation tasks. WP1 enables direct online learning on the real robot through novel vision-based deep reinforcement learning methods and extends the object detector to dynamic environments. Autonomous exploration-exploitation decision-making based on uncertainty-driven methods will be developed in WP2. Smart efficient replay techniques will be devised in WP3 to minimize resources and computational costs and overcome catastrophic forgetting in incremental learning. WP4 validates and enhances the learning system through an online feedback loop on real mobile assistants.

• DFG Programme: Collaborative Research Centres
• Subproject of: SFB 1574: A Circular Factory for the Perpetual Product
• Applicant Institution: Karlsruher Institut für Technologie
• Project Head: Professorin Dr.-Ing. Rania Rayyes