Robot learning from demonstration by constructing skill trees
Publication
, Journal Article
Konidaris, G; Kuindersma, S; Grupen, R; Barto, A
Published in: International Journal of Robotics Research
March 1, 2012
We describe CST, an online algorithm for constructing skill trees from demonstration trajectories. CST segments a demonstration trajectory into a chain of component skills, where each skill has a goal and is assigned a suitable abstraction from an abstraction library. These properties permit skills to be improved efficiently using a policy learning algorithm. Chains from multiple demonstration trajectories are merged into a skill tree. We show that CST can be used to acquire skills from human demonstration in a dynamic continuous domain, and from both expert demonstration and learned control sequences on the uBot-5 mobile manipulator. © SAGE Publications 2011.
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Published In
International Journal of Robotics Research
DOI
EISSN
1741-3176
ISSN
0278-3649
Publication Date
March 1, 2012
Volume
31
Issue
3
Start / End Page
360 / 375
Related Subject Headings
- Industrial Engineering & Automation
- 4603 Computer vision and multimedia computation
- 4007 Control engineering, mechatronics and robotics
- 0913 Mechanical Engineering
- 0906 Electrical and Electronic Engineering
- 0801 Artificial Intelligence and Image Processing
Citation
APA
Chicago
ICMJE
MLA
NLM
Konidaris, G., Kuindersma, S., Grupen, R., & Barto, A. (2012). Robot learning from demonstration by constructing skill trees. International Journal of Robotics Research, 31(3), 360–375. https://doi.org/10.1177/0278364911428653
Konidaris, G., S. Kuindersma, R. Grupen, and A. Barto. “Robot learning from demonstration by constructing skill trees.” International Journal of Robotics Research 31, no. 3 (March 1, 2012): 360–75. https://doi.org/10.1177/0278364911428653.
Konidaris G, Kuindersma S, Grupen R, Barto A. Robot learning from demonstration by constructing skill trees. International Journal of Robotics Research. 2012 Mar 1;31(3):360–75.
Konidaris, G., et al. “Robot learning from demonstration by constructing skill trees.” International Journal of Robotics Research, vol. 31, no. 3, Mar. 2012, pp. 360–75. Scopus, doi:10.1177/0278364911428653.
Konidaris G, Kuindersma S, Grupen R, Barto A. Robot learning from demonstration by constructing skill trees. International Journal of Robotics Research. 2012 Mar 1;31(3):360–375.
Published In
International Journal of Robotics Research
DOI
EISSN
1741-3176
ISSN
0278-3649
Publication Date
March 1, 2012
Volume
31
Issue
3
Start / End Page
360 / 375
Related Subject Headings
- Industrial Engineering & Automation
- 4603 Computer vision and multimedia computation
- 4007 Control engineering, mechatronics and robotics
- 0913 Mechanical Engineering
- 0906 Electrical and Electronic Engineering
- 0801 Artificial Intelligence and Image Processing