Imitation learning from humanoids in a heterogeneous setting

Jeff Allen*, John Anderson, Jacky Baltes

*此作品的通信作者

研究成果: 書貢獻/報告類型會議論文篇章

摘要

Humanoid robots are increasingly popular due to their flexible nature and how easy it is for humans to relate to them. Imitation learning has been used to transfer skills and experience between robots, however, transferring skills from a humanoid demonstrator to a non-humanoid such as a wheeled robot is no simple task. The imitator must be able to abstract the behaviour it observes and in addition translate this behaviour to actions that it is able to perform. Since humanoid robots' have much larger ranges of motion than most robots, this is can be quite difficult. This work describes an approach for a non-humanoid robot to learn a task by observing demonstrations of a humanoid robot using global vision. We use a combination of tracking sequences of primitives and predicting future primitive actions from existing combinations using forward models to construct more abstract behaviours that bridge the differences between the different robot types. To evaluate the success of learning from a humanoid demonstrator, we also evaluate how well a wheeled robot can learn from a physically identical wheeled robot, as well as a much smaller wheeled robot.

原文英語
主出版物標題Trends in Intelligent Robotics - 13th FIRA Robot World Congress, FIRA 2010, Proceedings
頁面106-113
頁數8
DOIs
出版狀態已發佈 - 2010
對外發佈
事件13th FIRA Robot World Congress on Trends in Intelligent Robotics, FIRA 2010 - Bangalore, 印度
持續時間: 2010 九月 152010 九月 17

出版系列

名字Communications in Computer and Information Science
103 CCIS
ISSN(列印)1865-0929

其他

其他13th FIRA Robot World Congress on Trends in Intelligent Robotics, FIRA 2010
國家/地區印度
城市Bangalore
期間2010/09/152010/09/17

ASJC Scopus subject areas

  • 電腦科學(全部)
  • 數學(全部)

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