Interpretability in Contact-Rich Manipulation via Kinodynamic Images
Ioanna Mitsioni Joonatan Mänttäri Yiannis Karayiannidis John Folkesson Danica Kragic Ioanna Mitsioni Joonatan Mänttäri Yiannis Karayiannidis John Folkesson Danica Kragic
Deep Neural Networks (NNs) have been widely utilized in contact-rich manipulation tasks to model the complicated contact dynamics. However, NN-based models are often difficult to decipher which can lead to seemingly inexplicable behaviors and unidentifiable failure cases. In this work, we address the interpretability of NN-based models by introducing the kinodynamic images. We propose a methodolog...