A Quantum-Statistical Approach Toward Robot Learning by Demonstration
File(s)QMR.pdf (1.7 MB)
Accepted version
Author(s)
Chatzis, SP
Korkinof, D
Demiris, Y
Type
Journal Article
Abstract
Statistical machine learning approaches have been at the epicenter of the ongoing research work in the field of robot learning by demonstration over the past few years. One of the most successful methodologies used for this purpose is a Gaussian mixture regression (GMR). In this paper, we propose an extension of GMR-based learning by demonstration models to incorporate concepts from the field of quantum mechanics. Indeed, conventional GMR models are formulated under the notion that all the observed data points can be assigned to a distinct number of model states (mixture components). In this paper, we reformulate GMR models, introducing some quantum states constructed by superposing conventional GMR states by means of linear combinations. The so-obtained quantum statistics-inspired mixture regression algorithm is subsequently applied to obtain a novel robot learning by demonstration methodology, offering a significantly increased quality of regenerated trajectories for computational costs comparable with currently state-of-the-art trajectory-based robot learning by demonstration approaches. We experimentally demonstrate the efficacy of the proposed approach.
Date Issued
2012
Citation
IEEE Transactions on Robotics, 2012, 28, pp.1371-1381-1371-1381
ISSN
1941-0468
Publisher
Institute of Electrical and Electronics Engineers
Start Page
1371-1381
End Page
1371-1381
Journal / Book Title
IEEE Transactions on Robotics
Volume
28
Issue
6
Copyright Statement
© 2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Description
17.12.13 KB. Ok to add accepted version to spiral.IEEE
Identifier
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=000312104400013&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
Publication Status
Published
Article Number
6