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Autonomous Motion Conference Paper 2001

Robust learning of arm trajectories through human demonstration

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Autonomous Motion
Stefan Schaal
  • Director

We present a model, composed of hierarchy of artificial neural networks, for robot learning by demonstration. The model is implemented in a dynamic simulation of a 41 degrees of freedom humanoid for reproducing 3D human motion of the arm. Results show that the model requires few information about the desired trajectory and learns on-line the relevant features of movement. It can generalize across a small set of data to produce a qualitatively good reproduction of the demonstrated trajectory. Finally, it is shown that reproduction of the trajectory after learning is robust against perturbations.

Author(s): Billard, A. and Schaal, S.
Book Title: IEEE International Conference on Intelligent Robots and Systems (IROS 2001)
Year: 2001
Publisher: Piscataway, NJ: IEEE
Bibtex Type: Conference Paper (inproceedings)
Address: Maui, Hawaii, Oct.29-Nov.3
URL: http://www-clmc.usc.edu/publications/B/billard-IROS2001.pdf
Cross Ref: p1462
Electronic Archiving: grant_archive
Note: clmc

BibTex 

@inproceedings{Billard_IICIRS_2001,
  title = {Robust learning of arm trajectories through human demonstration},
  booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS 2001)},
  abstract = {We present a model, composed of hierarchy of artificial neural networks, for robot learning by demonstration.  The model is implemented in a dynamic simulation of a 41 degrees of freedom humanoid for reproducing 3D human motion of the arm. Results show that the model requires few information about the desired trajectory and learns on-line the relevant features of movement. It can generalize across a small set of data to produce a qualitatively good reproduction of the demonstrated trajectory. Finally, it is shown that reproduction of the trajectory after learning is robust against perturbations.},
  publisher = {Piscataway, NJ: IEEE},
  address = {Maui, Hawaii, Oct.29-Nov.3},
  year = {2001},
  note = {clmc},
  slug = {billard_iicirs_2001},
  author = {Billard, A. and Schaal, S.},
  crossref = {p1462},
  url = {http://www-clmc.usc.edu/publications/B/billard-IROS2001.pdf}
}