Robot Learning from Human Teachers

An evaluation of GUI and kinesthetic teaching methods for constrained-keyframe skills

“…The goal of Learning from Demonstration (LfD) research is to to enable people with no specialized robotics knowledge to teach robots new skills [1]. Complex humanoid robots such as Curi ??…”

“…The goal of Learning from Demonstration (LfD) research is to to enable people with no specialized robotics knowledge to teach robots new skills [1]. Complex humanoid robots are capable of a broad range of skills that could assist humans in both industrial and domestic settings, yet programming these skills requires specialized knowledge and is time consuming.…”

Temporal Alignment and Demonstration Selection as Pre-Processing Phase for Learning by Demonstration

“…The field of Learning by Demonstration aims to develop techniques where the movement is programmed by the operator by showing the wanted movement to the robot (Zhu and Hu 2018;Calinon 2009;Argall et al 2009;Ravichandar et al 2020;Chernova and Thomaz 2014). It allows a non-expert user to program the robot in an easy practical way.…”

“…Execution time and speed of demonstrations will not be exactly the same due to the human nature of the demonstrations (Calinon 2009). The operator could eventually make some mistakes and demonstrate movements with noise (Argall et al 2009;Ravichandar et al 2020;Chernova and Thomaz 2014). In this paper, we offer alignment algorithms and selection of good demonstrations algorithms.…”

“…Aligned demonstrations are required for a good learning (Calinon 2009). The second step is selecting good demonstrations or only good parts of them to have the best learning phase (Argall et al 2009;Ravichandar et al 2020;Chernova and Thomaz 2014). During the experimenting phase, this pre-processing will be tested on three robots, on three different movements which increase in difficulty.…”