Programing by Demonstration: Coping with Suboptimal Teaching Actions

Programing by Demonstration : Coping with Suboptimal Teaching Actions

The difficulty associated with programing existing robots is one of the main impediments to them finding application in domestic environments such as the home. A promising method for simplifying robot programing is Programing by Demonstration (PbD). Here, an end user can provide a demonstration of the task to be programed, with a PbD “interface” interpreting the demonstration in order to determ...

Sensor Fusion Approaches for Observation of User Actions in Programing by Demonstration

Programming by Demonstration: Removing Suboptimal Actions in a Partially Known Configuration Space

Programming by demonstration is a promising approach to automatic robot programming, however methods are required to remove suboptimal actions that can be demonstrated by end users. In this paper we use the partial knowledge of Con guration Space (C-space) derived in previous work to remove suboptimal actions from a demonstration. Our idea is to use demonstrated paths to predict what regions in...

Showing versus doing: Teaching by demonstration

People often learn from others’ demonstrations, and inverse reinforcement learning (IRL) techniques have realized this capacity in machines. In contrast, teaching by demonstration has been less well studied computationally. Here, we develop a Bayesian model for teaching by demonstration. Stark differences arise when demonstrators are intentionally teaching (i.e. showing) a task versus simply pe...

Workspace Boundary Avoidance in Robot Teaching by Demonstration Using Fuzzy Impedance Control

The present paper investigates an intuitive way of robot path planning, called robot teaching by demonstration. In this method, an operator holds the robot end-effector and moves it through a number of positions and orientations in order to teach it a desired task. The presented control architecture applies impedance control in such a way that the end-effector follows the operator’s hand with d...