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| Record Number | 42 |
| Reference Type | Conference Proceedings |
| Author(s) | Atkeson, C. G.;Schaal, S. |
| Year | 1997 |
| Title | Robot learning from demonstration |
| Journal/Conference/Book Title | Machine Learning: Proceedings of the Fourteenth International Conference (ICML '97) |
| Label | Atke97b |
| Keywords | imitation learning, reinforcement learning, dynamic programming, motor skills |
Abstract |
The goal of robot learning from demonstration is to have a robot learn from watching a demonstration of the task to be performed. In our approach to learning from demonstration the robot learns a reward function from the demonstration and a task model from repeated attempts to perform the task. A policy is computed based on the learned reward function and task model. Lessons learned from an implementation on an anthropomorphic robot arm using a pendulum swing up task include 1) simply mimicking demonstrated motions is not adequate to perform this task, 2) a task planner can use a learned model and reward function to compute an appropriate policy, 3) this model-based planning process supports rapid learning, 4) both parametric and nonparametric models can be learned and used, and 5) incorporating a task level direct learning component, which is non-model-based, in addition to the model-based planner, is useful in compensating for structural modeling errors and slow model learning.
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| Notes | clmc |
| URL(s) | http://www-clmc.usc.edu/publications/A/atkeson-ICML1997.pdf
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| Editor(s) | Fisher Jr., D. H. |
| Place Published | Nashville, TN, July 8-12, 1997 |
| Publisher | Morgan Kaufmann |
| Pages | 12-20 |
| Short Title | Robot learning from demonstration |
| Papers are available as Adobe PDF ".pdf" files. Adobe Reader is available for free for all computer platforms.
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Page last modified on August 10, 2006, at 06:47 PM
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