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Robot learning from demonstration using predictive sequence learning
Department of Computing Science, Umeå University, Sweden.ORCID iD: 0000-0002-6568-9342
Department of Computing Science, Umeå University, Sweden.
Department of Computing Science, Umeå University, Sweden.
2012 (English)In: Robotic systems: applications, control and programming / [ed] Ashish Dutta, Kanpur, India: IN-TECH , 2012, 235-250 p.Chapter in book (Refereed)
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Text
Abstract [en]

In this chapter, the prediction algorithm Predictive Sequence Learning (PSL) is presented and evaluated in a robot Learning from Demonstration (LFD) setting. PSL generates hypotheses from a sequence of sensory-motor events. Generated hypotheses can be used as a semi-reactive controller for robots. PSL has previously been used as a method for LFD, but suffered from combinatorial explosion when applied to data with many dimensions, such as high dimensional sensor and motor data. A new version of PSL, referred to as Fuzzy Predictive Sequence Learning (FPSL), is presented and evaluated in this chapter. FPSL is implemented as a Fuzzy Logic rule base and works on a continuous state space, in contrast to the discrete state space used in the original design of PSL. The evaluation of FPSL shows a significant performance improvement in comparison to the discrete version of the algorithm. Applied to an LFD task in a simulated apartment environment, the robot is able to learn to navigate to a specific location, starting from an unknown position in the apartment.

Place, publisher, year, edition, pages
Kanpur, India: IN-TECH , 2012. 235-250 p.
National Category
Computer Vision and Robotics (Autonomous Systems)
Research subject
Computer and Information Science
Identifiers
URN: urn:nbn:se:his:diva-12146DOI: 10.5772/26165ISBN: 978-953-307-941-7 (print)OAI: oai:DiVA.org:his-12146DiVA: diva2:1076494
Available from: 2012-01-02 Created: 2017-02-22 Last updated: 2017-02-24Bibliographically approved

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Billing, ErikHellström, ThomasJanlert, Lars-Erik
Computer Vision and Robotics (Autonomous Systems)

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf