TY - GEN
T1 - Learning from demonstrations with partially observable task parameters
AU - Alizadeh, Tohid
AU - Calinon, Sylvain
AU - Caldwell, Darwin G.
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - Robot learning from demonstrations requires the robot to learn and adapt movements to new situations, often characterized by position and orientation of objects or landmarks in the robot's environment. In the task-parameterized Gaussian mixture model framework, the movements are considered to be modulated with respect to a set of candidate frames of reference (coordinate systems) attached to a set of objects in the robot workspace. Following a similar approach, this paper addresses the problem of having missing candidate frames during the demonstrations and reproductions, which can happen in various situations such as visual occlusion, sensor unavailability, or tasks with a variable number of descriptive features. We study this problem with a dust sweeping task in which the robot requires to consider a variable amount of dust areas to clean for each reproduction trial.
AB - Robot learning from demonstrations requires the robot to learn and adapt movements to new situations, often characterized by position and orientation of objects or landmarks in the robot's environment. In the task-parameterized Gaussian mixture model framework, the movements are considered to be modulated with respect to a set of candidate frames of reference (coordinate systems) attached to a set of objects in the robot workspace. Following a similar approach, this paper addresses the problem of having missing candidate frames during the demonstrations and reproductions, which can happen in various situations such as visual occlusion, sensor unavailability, or tasks with a variable number of descriptive features. We study this problem with a dust sweeping task in which the robot requires to consider a variable amount of dust areas to clean for each reproduction trial.
UR - http://www.scopus.com/inward/record.url?scp=84929191868&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929191868&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907335
DO - 10.1109/ICRA.2014.6907335
M3 - Conference contribution
AN - SCOPUS:84929191868
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3309
EP - 3314
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -