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Learning and generalization of motor skills by learning from demonstration

2009

Conference Paper

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We provide a general approach for learning robotic motor skills from human demonstration. To represent an observed movement, a non-linear differential equation is learned such that it reproduces this movement. Based on this representation, we build a library of movements by labeling each recorded movement according to task and context (e.g., grasping, placing, and releasing). Our differential equation is formulated such that generalization can be achieved simply by adapting a start and a goal parameter in the equation to the desired position values of a movement. For object manipulation, we present how our framework extends to the control of gripper orientation and finger position. The feasibility of our approach is demonstrated in simulation as well as on a real robot. The robot learned a pick-and-place operation and a water-serving task and could generalize these tasks to novel situations.

Author(s): Pastor, P. and Hoffmann, H. and Asfour, T. and Schaal, S.
Book Title: International Conference on Robotics and Automation (ICRA2009)
Year: 2009

Department(s): Autonomous Motion
Bibtex Type: Conference Paper (inproceedings)

Address: Kobe, Japan, May 12-19, 2009
Cross Ref: p10331
Note: clmc
URL: http://www-clmc.usc.edu/publications/P/pastor-ICRA2009.pdf

BibTex

@inproceedings{Pastor_ICRA_2009,
  title = {Learning and generalization of motor skills by learning from demonstration},
  author = {Pastor, P. and Hoffmann, H. and Asfour, T. and Schaal, S.},
  booktitle = {International Conference on Robotics and Automation (ICRA2009)},
  address = {Kobe, Japan, May 12-19, 2009},
  year = {2009},
  note = {clmc},
  crossref = {p10331},
  url = {http://www-clmc.usc.edu/publications/P/pastor-ICRA2009.pdf}
}