We present an approach for motion primitive learning and refinement for a humanoid robot. The proposed teaching method starts with observational learning and applies iterative kinesthetic motion refinement. Observational learning is realized by a marker control approach. Kinesthetic teaching is supported by introducing the motion refinement tube in order to avoid to disturb other joints acciden...

We study the sample complexity of teaching, termed as "teaching dimension" (TDim) in literature, for teaching-by-reinforcement paradigm, where teacher guides student through rewards. This is distinct from teaching-by-demonstration paradigm motivated by robotics applications, teaches providing demonstrations state/action trajectories. The applies to a wider range real-world settings demonstratio...

We propose a method to learn compliant motions from demonstration to reduce the need for positional accuracy in an assembly task. An example of compliant motion in workpiece alignment is depicted in Fig. 1. Impedance control is a natural control method to realize compliant motions, but the drawback is that it makes motion planning difficult. Preimage planning [1] can be used for planning compli...

introduction: video-assisted clinical instruction (vacid) has been found to be a beneficial teaching tool for various fields in dentistry. the aim of this interventional study was to compare the efficacy of live conventional demonstration (cd), video teaching, and vacid (video with explanation) methods in teaching of root canal treatment to undergraduate dental students. methods and materials: ...

This paper presents an overview on the advantages an integrated symbolic connectionist approach can ooer for robot programming and control. It describes the functional dependency of symbolic and con-nectionist modules being parts of an hierarchical robot control system as well as their descriptive and methodological integration. Moreover, it is shown how both symbolic and connectionist learning...