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Authors: Erik A. Billing ; Thomas Hellström and Lars-Erik Janlert

Affiliation: Umeå University, Sweden

ISBN: 978-989-674-022-1

Keyword(s): Learning from demonstration, Prediction, Robot imitation, Motor control, Model-free learning.

Related Ontology Subjects/Areas/Topics: Agents ; Artificial Intelligence ; Cognitive Robotics ; Cognitive Systems ; Computational Intelligence ; Evolutionary Computing ; Informatics in Control, Automation and Robotics ; Mobile Agents ; Reactive AI ; Robotics and Automation ; Soft Computing ; Symbolic Systems

Abstract: A novel robot learning algorithm called Predictive Sequence Learning (PSL) is presented and evaluated. PSL is a model-free prediction algorithm inspired by the dynamic temporal difference algorithm S-Learning. While S-Learning has previously been applied as a reinforcement learning algorithm for robots, PSL is here applied to a Learning from Demonstration problem. The proposed algorithm is evaluated on four tasks using a Khepera II robot. PSL builds a model from demonstrated data which is used to repeat the demonstrated behavior. After training, PSL can control the robot by continually predicting the next action, based on the sequence of passed sensor and motor events. PSL was able to successfully learn and repeat the first three (elementary) tasks, but it was unable to successfully repeat the fourth (composed) behavior. The results indicate that PSL is suitable for learning problems up to a certain complexity, while higher level coordination is required for learning more complex beha viors. (More)

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Paper citation in several formats:
A. Billing E., Hellström T. and Janlert L. (2010). MODEL-FREE LEARNING FROM DEMONSTRATION.In Proceedings of the 2nd International Conference on Agents and Artificial IntelligenceISBN 978-989-674-022-1, pages 62-71. DOI: 10.5220/0002729500620071

author={Erik A. Billing and Thomas Hellström and Lars-Erik Janlert},
booktitle={Proceedings of the 2nd International Conference on Agents and Artificial Intelligence},


JO - Proceedings of the 2nd International Conference on Agents and Artificial Intelligence
SN - 978-989-674-022-1
AU - A. Billing E.
AU - Hellström T.
AU - Janlert L.
PY - 2010
SP - 62
EP - 71
DO - 10.5220/0002729500620071

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