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Robot learning from demonstration by constructing skill trees
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DOI：10.1177/0278364911428653.png)
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摘要
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We describe CST, an online algorithm for constructing skill trees from demonstration trajectories. CST segments a demonstration trajectory into a chain of component skills, where each skill has a goal and is assigned a suitable abstraction from an abstraction library. These properties permit skills to be improved efficiently using a policy learning algorithm. Chains from multiple demonstration trajectories are merged into a skill tree. We show that CST can be used to acquire skills from human demonstration in a dynamic continuous domain, and from both expert demonstration and learned control sequences on the uBot-5 mobile manipulator.
Keyword:
Learning from demonstration
motion primitives
hierarchical reinforcement learning
motion segmentation
changepoint detection
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2.4K
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