7 accepted papers
Learning from Demonstration (LfD) is a popular method of reproducing and generalizing robot skills from human-provided demonstrations. In this paper, we propose a novel optimization-based LfD method that encodes demon-strations as elastic maps. An elastic map is a graph of nodes connected through a…
Learning from Demonstration (LfD) is a popular approach that allows humans to teach robots new skills by showing the correct way(s) of performing the desired skill. Human-provided demonstrations, however, are not always optimal and the teacher usually addresses this issue by discarding or replacing…
We contribute a study benchmarking the performance of multiple motion-based learning from demonstration approaches. Given the number and diversity of existing methods, it is critical that comprehensive empirical studies be performed comparing the relative strengths of these techniques. In particular…
The FetchIt! Mobile Manipulation Challenge, held at the IEEE International Conference on Robots and Automation (ICRA) in May 2019, offered an environment with complex and integrated task sets, irregular objects, confined space, and machining, introducing new challenges in the mobile manipulation dom…
We propose a learning framework, named Multi-Coordinate Cost Balancing (MCCB), to address the problem of acquiring point-to-point movement skills from demonstrations. MCCB encodes demonstrations simultaneously in multiple differential coordinates that specify local geometric properties. MCCB generat…
Learning from Demonstration (LfD) is a popular approach to endowing robots with skills without having to program them by hand. Typically, LfD relies on human demonstrations in clutter-free environments. This prevents the demonstrations from being affected by irrelevant objects, whose influence can o…
This paper presents a novel geometric approach for learning and reproducing trajectory-based skills from human demonstrations. Our approach models a skill as a Generalized Cylinder, a geometric representation composed of an arbitrary space curve called spine and a smoothly varying cross-section. Wh…