We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a representation of the effects of a task and (2) find an optimal trajectory that will reproduce these effects in a new environment. We represent robot skills in terms of ...

Even with improvements in machine learning enabling robots to quickly optimize and perfect their skills, developing a seed skill from which to begin an optimization remains a necessary challenge for large action spaces. This paper proposes a method for creating and using such a seed by i) observing the effects of the actions of another robot, ii) further optimizing the skill starting from this ...

With this PCell wrapper, MGEN layout generators appear like usual SKILL based PCells within DF II. A wrapper PCell must be created for each layout generator. The wrapper PCells just differ in the parameters declarations and the corresponding construction of the layout generator command line. The MGEN environment creates the wrapper PCells automatically. mgenlayoutcds mostran model=nreg w=1u l=1...

Improvements in motor sequence learning come about via goal-based learning of the sequence of visual stimuli and muscle-based learning of the sequence of movement responses. In young adults, consolidation of goal-based learning is observed after intervals of sleep but not following wake, whereas consolidation of muscle-based learning is greater following intervals with wake compared to sleep. W...

Gandin and Murphy have shown that if a skill score is linear in the scoring matrix, and if the scoring matrix is symmetric, then in the 2-event case there exists a unique, \equitable" skill score, namely the True Skill Score (or Kuipers' performance index). As such, this measure is treated as preferable to other measures because of its equitability. However, in most practical situations the sco...

Human-based computation (HBC) is an emerging research area in which humans and machines collaborate to solve tasks that neither one can solve in isolation. In evolutionary computation, HBC is often realized through interactive evolutionary computation (IEC), in which a user guides evolution by iteratively selecting the parents for the next generation. IEC has shown promise in a variety of diffe...

Simulators are commonly used to train complex tasks. In particular, simulators are applied to train dangerous tasks, to save costs, and to investigate the impact of different factors on task performance. However, in most cases, the transfer of simulator training to the real task has not been investigated. Without a proof for successful skill transfer, simulators might not be helpful at all or e...