Academic Journal
Learning robot behaviour and skills based on human demonstration and advice: The machine learning paradigm
| العنوان: | Learning robot behaviour and skills based on human demonstration and advice: The machine learning paradigm |
|---|---|
| المؤلفون: | R. Dillmann, O. Rogalla, M. Bordegoni, M. Ehrenmann |
| المساهمون: | The Pennsylvania State University CiteSeerX Archives |
| المصدر: | http://www8.cs.umu.se/research/ifor/dl/SEQUENCE LEARINIG/Learning Robot Behaviour and Skills Based on Human Demonstration and Advice - The Machine Learning Paradigm.pdf. |
| سنة النشر: | 1999 |
| المجموعة: | CiteSeerX |
| الوصف: | Service robots require easy programming methods al-lowing the unexperienced human user to easily inte-grate motion and perception skills or complex prob-lem solving strategies. To achieve this goal, robots should learn from operators how and what to do con-sidering hard- and software constraints. Various ap-proaches modelling the man-machine skill transfer have been proposed. Systems following the Program-ming by Demonstration (PbD) paradigm that were de-veloped within the last decade are getting closer to this goal. However, most of these systems lack the possi-bility for the user to supervise and in uence the pro-cess of program generation after the initial demonstra-tion was performed. In this paper a principle learning methodology is discussed, which allows to transfer hu-man skills and to supervise the learning process includ-ing subsymbolic and symbolic task knowledge. Here, several existing approaches will be discussed and com-pared to each other. Moreover, a system approach is presented, integrating the overall process of skill trans-fer from a human to a robotic manipulation system. One major goal is to modify information gained by the demonstration in that way that dierent target sys-tems are supported. The resulting PbD-system yields towards a hybrid learning approach in robotics to sup-port natural programming based on human demonstra-tions and user advice. 1 |
| نوع الوثيقة: | text |
| وصف الملف: | application/pdf |
| اللغة: | English |
| Relation: | http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.637.5475; http://www8.cs.umu.se/research/ifor/dl/SEQUENCE LEARINIG/Learning Robot Behaviour and Skills Based on Human Demonstration and Advice - The Machine Learning Paradigm.pdf |
| الاتاحة: | http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.637.5475 http://www8.cs.umu.se/research/ifor/dl/SEQUENCE LEARINIG/Learning Robot Behaviour and Skills Based on Human Demonstration and Advice - The Machine Learning Paradigm.pdf |
| Rights: | Metadata may be used without restrictions as long as the oai identifier remains attached to it. |
| رقم الانضمام: | edsbas.4A3AF1E2 |
| قاعدة البيانات: | BASE |
| الوصف غير متاح. |