Carnegie Mellon University
Browse
- No file added yet -

Learning Mobile Robot Motion Control from Demonstrated Primitives and Human Feedback

Download (317.88 kB)
journal contribution
posted on 2009-01-01, 00:00 authored by Brenna Argall, Brett Browning, Manuela M. Veloso

Task demonstration is one effective technique for developing robot motion control policies. As tasks become more complex, however, demonstration can become more difficult. In this work we introduce a technique that uses corrective human feedback to build a policy able to perform an undemonstrated task from simpler policies learned from demonstration. Our algorithm first evaluates and corrects the execution of motion primitive policies learned from demonstration. The algorithm next corrects and enables the execution of a larger task built from these primitives.Within a simulated robot motion control domain, we validate that a policy for an undemonstrated task is successfully built from motion primitives learned from demonstration under our approach.We show feedback to both aid and enable policy development, improving policy performance in success, speed and efficiency.

History

Date

2009-01-01

Usage metrics

    Keywords

    Exports

    RefWorks
    BibTeX
    Ref. manager
    Endnote
    DataCite
    NLM
    DC