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Authors: Adam Olenderski ; Monica Nicolescu and Sushil Louis

Affiliation: University of Nevada, United States

Keyword(s): Learning by demonstration, human-robot interaction, mobile robots.

Related Ontology Subjects/Areas/Topics: Autonomous Agents ; Human-Robots Interfaces ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation ; Telerobotics and Teleoperation

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.

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Paper citation in several formats:
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 3: ICINCO; ISBN 972-8865-30-9; ISSN 2184-2809, SciTePress, pages 263-269. DOI: 10.5220/0001186202630269

@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 3: ICINCO},
year={2005},
pages={263-269},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001186202630269},
isbn={972-8865-30-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - ROBOT LEARNING BY DEMONSTRATION USING FORWARD MODELS OF SCHEMA-BASED BEHAVIORS
SN - 972-8865-30-9
IS - 2184-2809
AU - Olenderski, A.
AU - Nicolescu, M.
AU - Louis, S.
PY - 2005
SP - 263
EP - 269
DO - 10.5220/0001186202630269
PB - SciTePress

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