TY - GEN
T1 - An object-centric paradigm for robot programming by demonstration
AU - Huang, Di Wei
AU - Katz, Garrett E.
AU - Langsfeld, Joshua D.
AU - Oh, Hyuk
AU - Gentili, Rodolphe J.
AU - Reggia, James A.
N1 - Publisher Copyright:
© Springer International Publishing Switzerland 2015.
PY - 2015
Y1 - 2015
N2 - 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.
AB - 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.
KW - Human-robot interactions
KW - Imitation learning
KW - Programming by demonstration
UR - http://www.scopus.com/inward/record.url?scp=84958550523&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84958550523&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-20816-9_71
DO - 10.1007/978-3-319-20816-9_71
M3 - Conference contribution
AN - SCOPUS:84958550523
SN - 9783319208152
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 745
EP - 756
BT - Foundations of Augmented Cognition - 9th International Conference, AC 2015 Held as Part of HCI International 2015, Proceedings
A2 - Fidopiastis, Cali M.
A2 - Schmorrow, Dylan D.
PB - Springer Verlag
T2 - 9th International Conference on Augmented Cognition, AC 2015 Held as Part of 17th International Conference on Human Computer Interaction, HCI International 2015
Y2 - 2 August 2015 through 7 August 2015
ER -