Abstract
To support studies in robot imitation learning, this paper presents a software platform, SMILE (Simulator for Maryland Imitation Learning Environment), specifically targeting tasks in which exact human motions are not critical. We hypothesize that in this class of tasks, object behaviors are far more important than human behaviors, and thus one can significantly reduce complexity by not processing human motions at all. As such, SMILE simulates a virtual environment where a human demonstrator can manipulate objects using GUI controls without body parts being visible to a robot in the same environment. Imitation learning is therefore based on the behaviors of manipulated objects only. A simple Matlab interface for programming a simulated robot is also provided in SMILE, along with an XML interface for initializing objects in the virtual environment. SMILE lowers the barriers for studying robot imitation learning by (1) simplifying learning by making the human demonstrator be a virtual presence and (2) eliminating the immediate need to purchase special equipment for motion capturing.
Original language | English (US) |
---|---|
Title of host publication | 2015 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2015 |
Publisher | IEEE Computer Society |
Volume | 2015-August |
ISBN (Electronic) | 9781479987573, 9781479987573 |
DOIs | |
State | Published - Aug 24 2015 |
Externally published | Yes |
Event | IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2015 - Woburn, United States Duration: May 11 2015 → May 12 2015 |
Other
Other | IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2015 |
---|---|
Country | United States |
City | Woburn |
Period | 5/11/15 → 5/12/15 |
Keywords
- Graphical user interfaces
- Joints
- MATLAB
- Robot kinematics
- Robot sensing systems
- XML
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Networks and Communications
- Computer Science Applications
- Computer Vision and Pattern Recognition
- Electrical and Electronic Engineering