Continuing Robot Skill Learning after Demonstration with Human Feedback
نویسندگان
چکیده
منابع مشابه
Robot learning from demonstration by constructing skill trees
We describe CST, an online algorithm for constructing skill trees from demonstration trajectories. CST segments a demonstration trajectory into a chain of component skills, where each skill has a goal and is assigned a suitable abstraction from an abstraction library. These properties permit skills to be improved efficiently using a policy learning algorithm. Chains from multiple demonstration ...
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Today, most robots used in the industry are preprogrammed and require a welldefined and controlled environment. Reprogramming such robots is often a costly process requiring an expert. By enabling robots to learn tasks from human demonstration, robot installation and task reprogramming are simplified. In a longer time perspective, the vision is that robots will move out of factories into our ho...
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Starting from theoretically sound robotic control structures for task representation and execution, we replace analytic modules by more flexible learned ones [13]. To this end, we tackle problems such as accurate but compliant execution, learning of elementary behaviors, hierarchical composition of behaviors, and parsing complex demonstrations into elementary behaviors. Accurate execution of mo...
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We present a method for reinforcement learning of closely related skills that are parameterized via a skill embedding space. We learn such skills by taking advantage of latent variables and exploiting a connection between reinforcement learning and variational inference. The main contribution of our work is an entropyregularized policy gradient formulation for hierarchical policies, and an asso...
متن کاملRobot Skill Learning
Learning robots that can acquire new motor skills and refine existing ones have been a long standing vision of robotics, artificial intelligence, and the cognitive sciences. Early steps towards this goal in the 1980s made clear that reasoning and human insights will not suffice. Instead, new hope has been offered by the rise of modern machine learning approaches. However, to date, it becomes in...
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ژورنال
عنوان ژورنال: BIO Web of Conferences
سال: 2011
ISSN: 2117-4458
DOI: 10.1051/bioconf/20110100004