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
Author(s): | Atkeson, C. G. and Schaal, S. |
Book Title: | IEEE International Conference on Robotics and Automation (ICRA97) |
Volume: | 2 |
Pages: | 1706-1712 |
Year: | 1997 |
Publisher: | Piscataway, NJ: IEEE |
Bibtex Type: | Conference Paper (inproceedings) |
Address: | Albuquerque, NM, 20-25 April |
URL: | http://www-clmc.usc.edu/publications/A/atkeson-ICRA1997.pdf |
Cross Ref: | p44 |
Electronic Archiving: | grant_archive |
Note: | clmc |
BibTex
@inproceedings{Atkeson_IICRA_1997, title = {Learning tasks from a single demonstration}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA97)}, 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}, volume = {2}, pages = {1706-1712}, publisher = {Piscataway, NJ: IEEE}, address = {Albuquerque, NM, 20-25 April}, year = {1997}, note = {clmc}, slug = {atkeson_iicra_1997}, author = {Atkeson, C. G. and Schaal, S.}, crossref = {p44}, url = {http://www-clmc.usc.edu/publications/A/atkeson-ICRA1997.pdf} }