Adam Wathieu

RE:BT-Espresso: Improving Interpretability and Expressivity of Behavior Trees Learned from Robot Demonstrations

Behavior trees (BTs) are hierarchical agent control architectures popular for robot task-level planning that can be autonomously learned from robot demonstrations via decision tree (DT) intermediaries, making them accessible to non-expert users. Conversion algorithms from DTs to BTs, such as the BT-…