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Towards Manipulator Learning by Demonstration and Reinforcement Learning
Örebro University, Department of Technology. Örebro University, Department of Technology. AASS. (AASS)
2006 (English)Licentiate thesis, monograph (Other academic)
Abstract [en]

This thesis address how robotic arms, called manipulators, can learn a task demonstrated by a teacher. The concept of showing a robot a task, instead of manually programming it, is appealing since it makes it easier to instruct robots. This thesis will introduce the basics of manipulators and techniques suitable for robot learning including an introduction to reinforcement learning. Also a number of other researchers' work are reviewed from the viewpoint of how they apply robot learning from a teacher, and how this knowledge can be reused when a similar problem is faced. One key part of this thesis is an overview of the field Robot Learning from Demonstration, focusing on robotic manipulators, but work including humanoids and mobile robots are also covered. Challenges, such as how to learn from the demonstration, and what to learn are presented together with related work. Initial experiments on learning from a teacher's demonstration, have been carried out using a manipulator and a motion capturing device as a platform. The experiments investigated are

position teaching of a robotic arm using neural networks and a minimum distance classifier,

reinforcement learning algorithm for a reaching task, where a demonstrated trajectory was used as bias.

Based on the presented work we suggest a future work direction and that provide the robot with some basic behaviours needed to learn other higher level tasks.

Place, publisher, year, edition, pages
2006. , p. 106
Series
Studies from the Department of Technology at Örebro University, ISSN 1404-7225 ; 21
Keywords [en]
Manipulation, learning, robot learning from demonstration, programming by demonstration, imitation in robotics.
National Category
Computer Sciences
Identifiers
URN: urn:nbn:se:oru:diva-4096OAI: oai:DiVA.org:oru-4096DiVA, id: diva2:138395
Note
Opponent: Dr. Danica Kragic, KTHAvailable from: 2007-11-01 Created: 2007-11-01 Last updated: 2018-01-13

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Other links

http://aass.oru.se/Research/Learning/publications/2006/Skoglund_2006-Lic_Thesis-Towards_Manipulator_Learning_by_Demonstration_and_Reinforcement_Learning.pdf

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Skoglund, Alexander

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CiteExportLink to record
Permanent link

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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