Interactive robot learning of visuospatial skills

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Title: Interactive robot learning of visuospatial skills
Authors: Ahmadzadeh, SR
Kormushev, P
Caldwell, DG
Item Type: Conference Paper
Abstract: This paper proposes a novel interactive robot learning approach for acquiring visuospatial skills. It allows a robot to acquire new capabilities by observing a demonstration while interacting with a human caregiver. Most existing learning from demonstration approaches focus on the trajectories, whereas in our approach the focus is placed on achieving a desired goal configuration of objects relative to one another. Our approach is based on visual perception which captures the objects context for each demonstrated action. The context embodies implicitly the visuospatial representation including the relative positioning of the object with respect to multiple other objects simultaneously. The proposed approach is capable of learning and generalizing different skills such as object reconfiguration, classification, and turn-taking interaction. The robot learns to achieve the goal from a single demonstration while requiring minimum a priori knowledge about the environment. We illustrate the capabilities of our approach using four real world experiments with a Barrett WAM robot.
Issue Date: 30-Nov-2013
Date of Acceptance: 25-Nov-2013
URI: http://hdl.handle.net/10044/1/26072
DOI: http://dx.doi.org/10.1109/ICAR.2013.6766597
Publisher: IEEE
Start Page: 1
End Page: 8
Journal / Book Title: Proc. IEEE Intl Conf. on Advanced Robotics (ICAR 2013)
Copyright Statement: © 2013 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.
Conference Name: ICAR 2013
Publication Status: Published
Publisher URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6766597
Start Date: 2013-11-25
Finish Date: 2013-11-29
Conference Place: Montevideo, Uraguay
Appears in Collections:Dyson School of Design Engineering



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