Situated robotics: from learning to teaching by imitation |
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Authors: | Cristina Urdiales Ulises Cortés |
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Institution: | (1) Departamento de Tecnología Electrónica E.T.S.I. Telecomunicación, Universidad de Málaga, Campus de Teatinos, 29071, Málaga, Spain;(2) LSI - Departament de Llenguatges i Sistemes Informátics, Universitat Politècnica de Catalunya UPC, c/Jordi Girona, 1 & 3, Edifici Omega 136, 08034, BCN, Catalonia, Spain |
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Abstract: | This paper presents an approach to imitation learning in robotics focusing on low level behaviours, so that they do not need
to be encoded into sets and rules, but learnt in an intuitive way. Its main novelty is that, rather than trying to analyse
natural human actions and adapting them to robot kinematics, humans adapt themselves to the robot via a proper interface to
make it perform the desired action. As an example, we present a successful experiment to learn a purely reactive navigation
behaviour using robotic platforms. Using Case Based Reasoning, the platform learns from a human driver how to behave in the
presence of obstacles, so that no kinematics studies or explicit rules are required. |
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Keywords: | Supervised learning Adaptation Case Based Reasoning Reactive navigation Teaching |
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