Teaching Sequential Tasks with Repetition through Demonstration (Short Paper)

For robots to become prevalent in human environments, the robots need to be able to perform complex tasks often involving sequential repetition of actions. In this work, we present a demonstrationbased approach to teach a robot generalized plans for performing sequential tasks with repetitions. We introduce action definitions through perception. Using the action definitions and the demonstration, the robot learns a task specific plan for tasks containing repetition of sub-sequences.