Removing suboptimal actions that can exist in a demonstration is s key problem to be solved in Robot Programming by Demonstration. In this paper we present the rst step of an approach for solving this problem. We present how the Con guration Space (Cspace) of a task can be derived from demonstration. A demonstration traces out paths on a number of Csurfaces in C-space. The idea is to use statis...

Programming by Demonstration: a Machine Learning Approach

It is now generally accepted that several types of “risks” can be recognized for built facilities and environments: they are not limited to collapses and heavy damages but involve comfort and way of life (cf. e.g. Augusti et al., 2003). The most rational way of tackling such risks and their reduction is Performance-based Design PBD (or, better, Performance-based Engineering). This lecture will ...

We develop a scalable cell-level analytical model for multi-cell infrastructure IEEE 802.11 WLANs under a so-called Pairwise Binary Dependence (PBD) condition. The PBD condition is a geometric property under which the relative locations of the nodes inside a cell do not matter and the network is free of hidden nodes. For the cases of saturated nodes and TCP-controlled long-file downloads, we pr...

Effective robot programming by demonstration requires the availability of multiple demonstrations to learn about all relevant aspects of the demonstrated skill or task. Typically, a human teacher must demonstrate several variants of the desired task to generate a sufficient amount of data to reliably learn it. Here a problem often arises that there is a large variability in the speed of executi...

Programming by demonstration (PBD) utilizes a human teacher to train a computer system to perform tasks within that system. This technique effectively improves productivity for many tasks, in many domains. Many tasks are repetitive in nature; these can be learned by PBD by recognizing the repetitions and generalizing these to iterative programs. We present a domain-independent approach to itera...

In robot programming by demonstration, we hypothesize that in a class of procedural tasks where the end goal primarily consists of the states of objects that are external to a task performer, one can significantly reduce complexity of a robot learner by not processing a human demonstrator’s motions at all. In this class of tasks, object behaviors are far more critical than human behaviors. Base...

introduction: the conventional method of teaching endodontics has some drawbacks. due to the small size of the oral cavity, students cannot closely observe the clinical procedure. use of new teaching modalities such as the intraoral camera may obviate this problem. this study assessed the effect of video-assisted clinical instruction in dentistry (vacid) on dental student’s knowledge and perfor...