A formalism for learning from demonstration
2010 (English)In: Paladyn Journal of Behavioral Robotics, ISSN 2080-9778, Vol. 1, no 1, 1-13 p.Article in journal (Refereed) PublishedText
The paper describes and formalizes the concepts and assumptions involved in Learning from Demonstration (LFD), a common learning technique used in robotics. LFD-related concepts like goal, generalization, and repetition are here defined, analyzed, and put into context. Robot behaviors are described in terms of trajectories through information spaces and learning is formulated as mappings between some of these spaces. Finally, behavior primitives are introduced as one example of good bias in learning, dividing the learning process into the three stages of behavior segmentation, behavior recognition, and behavior coordination. The formalism is exemplified through a sequence learning task where a robot equipped with a gripper arm is to move objects to specific areas. The introduced concepts are illustrated with special focus on how bias of various kinds can be used to enable learning from a single demonstration, and how ambiguities in demonstrations can be identified and handled.
Place, publisher, year, edition, pages
Versita , 2010. Vol. 1, no 1, 1-13 p.
Learning from demonstration, ambiguities, behavior, bias, generalization, robot learning
Human Computer Interaction Computer Science
Research subject Computer and Information Science
IdentifiersURN: urn:nbn:se:his:diva-12143DOI: 10.2478/s13230-010-0001-5OAI: oai:DiVA.org:his-12143DiVA: diva2:1076498
co-published with Springer-Verlag GmbH; Published online: 31 March 20102017-02-222017-02-222017-02-27