Title :
Learning tasks from a single demonstration
Author :
Atkeson, Christopher G. ; Schaal, Stefan
Author_Institution :
Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
Learning a complex dynamic robot manoeuvre from a single human demonstration is difficult. This paper explores an approach to learning from demonstration based on learning an optimization criterion from the demonstration and a task model from repeated attempts to perform the task, and using the learned criterion and model to compute an appropriate robot movement. A preliminary version of the approach has been implemented on an anthropomorphic robot arm using a pendulum swing up task as an example
Keywords :
knowledge based systems; learning by example; learning systems; manipulator dynamics; optimisation; anthropomorphic robot arm; dynamic robot manoeuvre; knowledge based system; learning from demonstration; manipulators; optimization criterion; robot movement; task learning; Anthropomorphism; Automatic programming; Education; Educational institutions; Humans; Information processing; Robot programming; Robotic assembly; Robotics and automation; Training data;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.614389