In this section
@article{Wu:2014:10.1016/j.robot.2014.05.010,
author = {Wu, Y and Su, Y and Demiris, Y},
doi = {10.1016/j.robot.2014.05.010},
journal = {Robotics and Autonomous Systems},
pages = {1517--1530},
title = {A morphable template framework for robot learning by demonstration: Integrating one-shot and incremental learning approaches},
url = {http://dx.doi.org/10.1016/j.robot.2014.05.010},
volume = {62},
year = {2014}
}
TY - JOUR
AB - Robot learning by demonstration is key to bringing robots into daily social environments to interact with and learn from human and other agents. However, teaching a robot to acquire new knowledge is a tedious and repetitive process and often restrictive to a specific setup of the environment. We propose a template-based learning framework for robot learning by demonstration to address both generalisation and adaptability. This novel framework is based upon a one-shot learning model integrated with spectral clustering and an online learning model to learn and adapt actions in similar scenarios. A set of statistical experiments is used to benchmark the framework components and shows that this approach requires no extensive training for generalisation and can adapt to environmental changes flexibly. Two real-world applications of an iCub humanoid robot playing the tic-tac-toe game and soldering a circuit board are used to demonstrate the relative merits of the framework.
AU - Wu,Y
AU - Su,Y
AU - Demiris,Y
DO - 10.1016/j.robot.2014.05.010
EP - 1530
PY - 2014///
SP - 1517
TI - A morphable template framework for robot learning by demonstration: Integrating one-shot and incremental learning approaches
T2 - Robotics and Autonomous Systems
UR - http://dx.doi.org/10.1016/j.robot.2014.05.010
UR - http://hdl.handle.net/10044/1/18615
VL - 62
ER -
