An object-centric paradigm for robot programming by demonstration

Di Wei Huang, Garrett Katz, Joshua D. Langsfeld, Hyuk Oh, Rodolphe J. Gentili, James A. Reggia

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

In robot programming by demonstration, we hypothesize that in a class of procedural tasks where the end goal primarily consists of the states of objects that are external to a task performer, one can significantly reduce complexity of a robot learner by not processing a human demonstrator’s motions at all. In this class of tasks, object behaviors are far more critical than human behaviors. Based on this virtual demonstrator hypothesis, this paper presents a paradigm where a human demonstrates an object manipulation task in a simulated world without any of the human demonstrator’s body parts being sensed by a robot learner. Based on the object movements alone, the robot learns to perform the same task in the physical world. These results provide strong support for the virtual demonstrator hypothesis.

Original languageEnglish (US)
Title of host publicationFoundations of Augmented Cognition - 9th International Conference, AC 2015 Held as Part of HCI International 2015, Proceedings
EditorsCali M. Fidopiastis, Dylan D. Schmorrow
PublisherSpringer Verlag
Pages745-756
Number of pages12
ISBN (Print)9783319208152
DOIs
StatePublished - Jan 1 2015
Externally publishedYes
Event9th International Conference on Augmented Cognition, AC 2015 Held as Part of 17th International Conference on Human Computer Interaction, HCI International 2015 - Los Angeles, United States
Duration: Aug 2 2015Aug 7 2015

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume9183
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other9th International Conference on Augmented Cognition, AC 2015 Held as Part of 17th International Conference on Human Computer Interaction, HCI International 2015
CountryUnited States
CityLos Angeles
Period8/2/158/7/15

Keywords

  • Human-robot interactions
  • Imitation learning
  • Programming by demonstration

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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  • Cite this

    Huang, D. W., Katz, G., Langsfeld, J. D., Oh, H., Gentili, R. J., & Reggia, J. A. (2015). An object-centric paradigm for robot programming by demonstration. In C. M. Fidopiastis, & D. D. Schmorrow (Eds.), Foundations of Augmented Cognition - 9th International Conference, AC 2015 Held as Part of HCI International 2015, Proceedings (pp. 745-756). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9183). Springer Verlag. https://doi.org/10.1007/978-3-319-20816-9_71