Frontiers in Neurorobotics (Nov 2023)
Cross-modal self-attention mechanism for controlling robot volleyball motion
Abstract
IntroductionThe emergence of cross-modal perception and deep learning technologies has had a profound impact on modern robotics. This study focuses on the application of these technologies in the field of robot control, specifically in the context of volleyball tasks. The primary objective is to achieve precise control of robots in volleyball tasks by effectively integrating information from different sensors using a cross-modal self-attention mechanism.MethodsOur approach involves the utilization of a cross-modal self-attention mechanism to integrate information from various sensors, providing robots with a more comprehensive scene perception in volleyball scenarios. To enhance the diversity and practicality of robot training, we employ Generative Adversarial Networks (GANs) to synthesize realistic volleyball scenarios. Furthermore, we leverage transfer learning to incorporate knowledge from other sports datasets, enriching the process of skill acquisition for robots.ResultsTo validate the feasibility of our approach, we conducted experiments where we simulated robot volleyball scenarios using multiple volleyball-related datasets. We measured various quantitative metrics, including accuracy, recall, precision, and F1 score. The experimental results indicate a significant enhancement in the performance of our approach in robot volleyball tasks.DiscussionThe outcomes of this study offer valuable insights into the application of multi-modal perception and deep learning in the field of sports robotics. By effectively integrating information from different sensors and incorporating synthetic data through GANs and transfer learning, our approach demonstrates improved robot performance in volleyball tasks. These findings not only advance the field of robotics but also open up new possibilities for human-robot collaboration in sports and athletic performance improvement. This research paves the way for further exploration of advanced technologies in sports robotics, benefiting both the scientific community and athletes seeking performance enhancement through robotic assistance.
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