Learning the Structure of Tacit Skills

Behavioural cloning seeks to build a model by learning from the traces of a skilled operator’s behaviour. These models should be both robust and explainable. The original cloning experiments sought to build situation-action rules that, together, behaved as a reactive controller. As a result of our research to date, it has become clear that it is difficult to represent tacit skills simply as f la t situation-action rules. Complex tasks have as inherent structure and it appears to be necessary tha t a behavioural clone reflects that structure.