EAN: 9783031004421

Bilder-Quelle: discount24.de - Sport-Freizeit

Learning from Demonstration (LfD) explores techniques for learning a task policy from examples provided by a human teacher. The field of LfD has grown into an extensive body of literature over the past 30 years with a wide variety of approaches for encoding human demonstrations and modeling skills and tasks. Additionally we have recently seen a focus on gathering data from non-expert human teachers (i.e. domain experts but not robotics experts). In this book we provide an introduction to the field with a focus on the unique technical challenges associated with designing robots that learn from naive human teachers. We begin in the introduction with a unification of the various terminology seen in the literature as well as an outline of the design choices one has in designing an LfD system. Chapter 2 gives a brief survey of the psychology literature that provides insights from human social learning that are relevant to designing robotic social learners. Chapter 3 walks through an LfD interaction surveying the design choices one makes and state of the art approaches in prior work. First is the choice of input how the human teacher interacts with the robot to provide demonstrations. Next is the choice of modeling technique. Currently there is a dichotomy in the field between approaches that model low-level motor skills and those that model high-level tasks composed of primitive actions. We devote a chapter to each of these. Chapter 7 is devoted to interactive and active learning approaches that allow the robot to refine an existing task model. And finally Chapter 8 provides best practices for evaluation of LfD systems with a focus on how to approach experiments with human subjects in this domain.

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02.04.2025 um 15:52 Uhr

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