NDLI: Learning robot motion control with demonstration and advice-operators

Content Provider	IEEE Xplore Digital Library
Author	Argall, B.D. Browning, B. Veloso, M.
Copyright Year	2008
Description	Author affiliation: Comput. Sci. Dept., Carnegie Mellon Univ., Pittsburgh, PA (Argall, B.D.; Browning, B.; Veloso, M.)
Abstract	As robots become more commonplace within society, the need for tools to enable non-robotics-experts to develop control algorithms, or policies, will increase. Learning from demonstration (LfD) offers one promising approach, where the robot learns a policy from teacher task executions. Our interests lie with robot motion control policies which map world observations to continuous low-level actions. In this work, we introduce advice-operator policy improvement (A-OPI) as a novel approach for improving policies within LfD. Two distinguishing characteristics of the A-OPI algorithm are data source and continuous state-action space. Within LfD, more example data can improve a policy. In A-OPI, new data is synthesized from a student execution and teacher advice. By contrast, typical demonstration approaches provide the learner with exclusively teacher executions. A-OPI is effective within continuous state-action spaces because high level human advice is translated into continuous-valued corrections on the student execution. This work presents a first implementation of the A-OPI algorithm, validated on a Segway RMP robot performing a spatial positioning task. A-OPI is found to improve task performance, both in success and accuracy. Furthermore, performance is shown to be similar or superior to the typical exclusively teacher demonstrations approach.
Starting Page	399
Ending Page	404
File Size	341460
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4651020
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Humans Mobile robots Accuracy Robot motion Robot sensing systems Sensors
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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