Learning Sequential Composition Plans Using Reduced-Dimensionality Examples

Nicholas Melchior and Reid Simmons
tech. report (AAAI) SS-09-01, Robotics Institute, Carnegie Mellon University, March, 2009


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Abstract
Programming by demonstration is an attractive model for allowing both experts and non-experts to command robots' actions. In this work, we contribute an approach for learning precise reaching trajectories for robotic manipulators. We use dimensionality reduction to smooth the example trajectories and transform their representation to a space more amenable to planning. Next, regions with simple control policies are formed in the embedded space. Sequential composition of these simple policies is sufficient to plan a path to the goal from any known area of the configuration space. This algorithm is capable of creating efficient, collision-free plans even under typical real-world training conditions such as incomplete sensor coverage and lack of an environment model, without imposing additional requirements upon the user such as constraining the types of example trajectories provided. Preliminary results are presented to validate this approach.

Keywords
Learning from Demonstration, Human Robot Interaction, Manipulation

Notes
Grant ID: Menlo Park, CA
Associated Lab(s) / Group(s): Reliable Autonomous Systems Lab
Note: This is not an RI tech. report, but AAAI workshops give publications tech. report numbers.

Text Reference
Nicholas Melchior and Reid Simmons, "Learning Sequential Composition Plans Using Reduced-Dimensionality Examples," tech. report (AAAI) SS-09-01, Robotics Institute, Carnegie Mellon University, March, 2009

BibTeX Reference
@techreport{Melchior_2009_6507,
   author = "Nicholas Melchior and Reid Simmons",
   title = "Learning Sequential Composition Plans Using Reduced-Dimensionality Examples",
   booktitle = "Papers from the 2009 AAAI Spring Symposium",
   institution = "Robotics Institute",
   publisher = "The AAAI Press",
   address = "Menlo Park, CA",
   month = "March",
   year = "2009",
   number= "(AAAI) SS-09-01",
   address= "Pittsburgh, PA",
   Notes = "This is not an RI tech. report, but AAAI workshops give publications tech. report numbers."
}