Model-free learning from demonstration
2010 (English)In: ICAART 2010 - Proceedings of the international conference on agents and artificial intelligence: volume 2 / [ed] Joaquim Filipe, Ana LN Fred, Bernadette Sharp, Portugal: INSTICC , 2010, 62-71 p.Conference paper (Refereed)
A novel robot learning algorithm called Predictive Sequence Learning (PSL) is presented and evaluated. PSL is a model-free prediction algorithm inspired by the dynamic temporal difference algorithm S-Learning. While S-Learning has previously been applied as a reinforcement learning algorithm for robots, PSL is here applied to a Learning from Demonstration problem. The proposed algorithm is evaluated on four tasks using a Khepera II robot. PSL builds a model from demonstrated data which is used to repeat the demonstrated behavior. After training, PSL can control the robot by continually predicting the next action, based on the sequence of passed sensor and motor events. PSL was able to successfully learn and repeat the first three (elementary) tasks, but it was unable to successfully repeat the fourth (composed) behavior. The results indicate that PSL is suitable for learning problems up to a certain complexity, while higher level coordination is required for learning more complex behaviors.
Place, publisher, year, edition, pages
Portugal: INSTICC , 2010. 62-71 p.
Learning from Demonstration, Prediction, Robot Imitation, Motor Control, Model-free Learning
Research subject Computer Science
IdentifiersURN: urn:nbn:se:umu:diva-31865ISBN: 978-989-674-022-1OAI: oai:DiVA.org:umu-31865DiVA: diva2:297960
ICAART 2010 - The International Conference on Agents and Artificial Intelligence - Agents, Valencia, Spain, January 22-24, 2010