Learning and generalization of complex tasks from unstructured demonstrations
Publication
, Journal Article
Niekum, S; Osentoski, S; Konidaris, G; Barto, AG
Published in: IEEE International Conference on Intelligent Robots and Systems
December 1, 2012
We present a novel method for segmenting demonstrations, recognizing repeated skills, and generalizing complex tasks from unstructured demonstrations. This method combines many of the advantages of recent automatic segmentation methods for learning from demonstration into a single principled, integrated framework. Specifically, we use the Beta Process Autoregressive Hidden Markov Model and Dynamic Movement Primitives to learn and generalize a multi-step task on the PR2 mobile manipulator and to demonstrate the potential of our framework to learn a large library of skills over time. © 2012 IEEE.
Duke Scholars
Published In
IEEE International Conference on Intelligent Robots and Systems
DOI
EISSN
2153-0866
ISSN
2153-0858
Publication Date
December 1, 2012
Start / End Page
5239 / 5246
Citation
APA
Chicago
ICMJE
MLA
NLM
Niekum, S., Osentoski, S., Konidaris, G., & Barto, A. G. (2012). Learning and generalization of complex tasks from unstructured demonstrations. IEEE International Conference on Intelligent Robots and Systems, 5239–5246. https://doi.org/10.1109/IROS.2012.6386006
Niekum, S., S. Osentoski, G. Konidaris, and A. G. Barto. “Learning and generalization of complex tasks from unstructured demonstrations.” IEEE International Conference on Intelligent Robots and Systems, December 1, 2012, 5239–46. https://doi.org/10.1109/IROS.2012.6386006.
Niekum S, Osentoski S, Konidaris G, Barto AG. Learning and generalization of complex tasks from unstructured demonstrations. IEEE International Conference on Intelligent Robots and Systems. 2012 Dec 1;5239–46.
Niekum, S., et al. “Learning and generalization of complex tasks from unstructured demonstrations.” IEEE International Conference on Intelligent Robots and Systems, Dec. 2012, pp. 5239–46. Scopus, doi:10.1109/IROS.2012.6386006.
Niekum S, Osentoski S, Konidaris G, Barto AG. Learning and generalization of complex tasks from unstructured demonstrations. IEEE International Conference on Intelligent Robots and Systems. 2012 Dec 1;5239–5246.
Published In
IEEE International Conference on Intelligent Robots and Systems
DOI
EISSN
2153-0866
ISSN
2153-0858
Publication Date
December 1, 2012
Start / End Page
5239 / 5246