What is the Teachers Role in Robot Programming by Demonstration - Toward Benchmarks for Improved LearningReport as inadecuate




What is the Teachers Role in Robot Programming by Demonstration - Toward Benchmarks for Improved Learning - Download this document for free, or read online. Document in PDF available to download.

Published in: Interaction Studies. Special Issue on Psychological Benchmarks in Human-Robot Interaction, vol. 8, num. 3 Publication date: 2007

Robot programming by demonstration (RPD) covers methods by which a robot learns new skills through human guidance. We present an interactive, multimodal RPD framework using active teaching methods that places the human teacher in the robot's learning loop. Two experiments are presented in which observational learning is first used to demonstrate a manipulation skill to a HOAP-3 humanoid robot by using motion sensors attached to the teacher's body. Then, putting the robot through the motion, the teacher incrementally refines the robot's skill by moving its arms manually, providing the appropriate scaffolds to reproduce the action. An incremental teaching scenario is proposed based on insights from various fields addressing developmental, psychological, and social issues related to teaching mechanisms in humans. Based on this analysis, different benchmarks are suggested to evaluate the setup further.

Keywords: Robot Programming by Demonstration (RbD) ; Learning by Imitation ; Human-Robot Interaction (HRI) ; Gaussian Mixture Model (GMM) ; Gaussian Mixture Regression (GMR) Reference LASA-ARTICLE-2007-002





Author: Calinon, S.; Billard, A.

Source: https://infoscience.epfl.ch/record/102366?ln=en



DOWNLOAD PDF




Related documents