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Formalising learning from demonstration
Umeå University, Faculty of Science and Technology, Department of Computing Science.
Umeå University, Faculty of Science and Technology, Department of Computing Science.
2008 (English)Report (Other academic)
Abstract [en]

The paper describes and formalizes the concepts and assumptions involved in Learning from Demonstration (LFD), a common learning technique used in robotics. Inspired by the work on planning and actuation by LaValle, common LFD-related concepts like goal, generalization, and repetition are here defined, analyzed, and put into context. Robot behaviors are described in terms of trajectories through information spaces and learning is formulated as the mappings between some of these spaces. Finally, behavior primitives are introduced as one example of useful bias in the learning process, dividing the learning process into the three stages of behavior segmentation, behavior recognition, and behavior coordination.

Place, publisher, year, edition, pages
Umeå: Department of Computing Science, Umeå University , 2008. , 10 p.
Series
Report / UMINF, ISSN 0348-0542 ; 08:10
Keyword [en]
Action selection, behavior, bias, generalization, goal, learning from demonstration, robot learning, segmentation
National Category
Human Computer Interaction
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:umu:diva-32493OAI: oai:DiVA.org:umu-32493DiVA: diva2:303588
Available from: 2010-03-15 Created: 2010-03-14 Last updated: 2010-04-01Bibliographically approved

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fulltext(132 kB)218 downloads
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Type fulltextMimetype application/pdf

Authority records BETA

Billing, ErikHellström, Thomas

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf