Robot Learning from Demonstration: A Task-level Planning Approach
نویسندگان
چکیده
منابع مشابه
Robot Learning from Demonstration: A Task-level Planning Approach
In this paper, we deal with the problem of learning by demonstration, task level learning and planning for robotic applications that involve object manipulation. Preprogramming robots for execution of complex domestic tasks such as setting a dinner table is of little use, since the same order of subtasks may not be conceivable in the run time due to the changed state of the world. In our approa...
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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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1. Motivation Programming by demonstration (PbD) is a key research topic in robotics. It impacts both fundamental research and application-oriented studies. Work in that area tackles the development of robust algorithms for motor control, motor learning, gesture recognition and visuo-motor integration. While the field existed for more than 20 years, recent developments, taking inspiration in bi...
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The goal of robot learning from demonstration is to have a robot learn from watching a demonstration of the task to be performed. In our approach to learning from demonstration the robot learns a reward function from the demonstration and a task model from repeated attempts to perform the task. A policy is computed based on the learned reward function and task model. Lessons learned from an imp...
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This paper presents an overview of a series of projects exploring multi-robot learning from demonstration. We present flexMLfD, a robot independent and task independent demonstration learning system that supports a variable number of robot learners. This learning system has been fully implemented and tested, and we present three example domains, utilizing different robotic platforms, to which i...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2008
ISSN: 1729-8814,1729-8814
DOI: 10.5772/5611