ROBOT LEARNING BY DEMONSTRATION USING FORWARD MODELS OF SCHEMA-BASED BEHAVIORS

Adam Olenderski, Monica Nicolescu, Sushil Louis

Abstract

A significant challenge in designing robot systems that learn from a teacher’s demonstration is the ability to map the perceived behavior of the trainer to an existing set of primitive behaviors. A main difficulty is that the observed actions may constitute a combination of individual behaviors’ outcomes, which would require a decomposition of the observation onto multiple primitive behaviors. This paper presents an approach to robot learning by demonstration that uses a potential-field behavioral representation to learn tasks composed by superposition of behaviors. The method allows a robot to infer essential aspects of the demonstrated tasks, which could not be captured if combinations of behaviors would not have been considered. We validate our approach in a simulated environment with a Pioneer 3DX mobile robot.

References

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Paper Citation


in Harvard Style

Olenderski A., Nicolescu M. and Louis S. (2005). ROBOT LEARNING BY DEMONSTRATION USING FORWARD MODELS OF SCHEMA-BASED BEHAVIORS . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 972-8865-30-9, pages 263-269. DOI: 10.5220/0001186202630269


in Bibtex Style

@conference{icinco05,
author={Adam Olenderski and Monica Nicolescu and Sushil Louis},
title={ROBOT LEARNING BY DEMONSTRATION USING FORWARD MODELS OF SCHEMA-BASED BEHAVIORS},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2005},
pages={263-269},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001186202630269},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - ROBOT LEARNING BY DEMONSTRATION USING FORWARD MODELS OF SCHEMA-BASED BEHAVIORS
SN - 972-8865-30-9
AU - Olenderski A.
AU - Nicolescu M.
AU - Louis S.
PY - 2005
SP - 263
EP - 269
DO - 10.5220/0001186202630269