Programming by Demonstration: Removing Suboptimal Actions in a Partially Known Configuration Space
نویسندگان
چکیده
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 C-space are obstacle free. Suboptimal actions in a demonstration are then avoided by planning alternative actions that pass through the obstacle free regions. Experimental results show the validity of the approach. A demonstrated path containing signi cant sub-optimality was converted by the approach into a short, eÆcient path suitable for execution by the robot.
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