NDLI: Programming by demonstration of probabilistic decision making on a multi-modal service robot

Content Provider	IEEE Xplore Digital Library
Author	Schmidt-Rohr, S.R. Lösch, M. Jäkel, R. Dillmann, R.
Copyright Year	2010
Description	Author affiliation: Institute for Anthropomatics (IFA), Karlsruhe Institute of Technology, Germany (Schmidt-Rohr, S.R.; Lösch, M.; Jäkel, R.; Dillmann, R.)
Abstract	In this paper we propose a process which is able to generate abstract service robot mission representations, utilized during execution for autonomous, probabilistic decision making, by observing human demonstrations. The observation process is based on the same perceptive components as used by the robot during execution, recording dialog between humans, human motion as well as objects poses. This leads to a natural, practical learning process, avoiding extra demonstration centers or kinesthetic teaching. By generating mission models for probabilistic decision making as Partially observable Markov decision processes, the robot is able to deal with uncertain and dynamic environments, as encountered in real world settings during execution. Service robot missions in a cafeteria setting, including the modalities of mobility, natural human-robot interaction and object grasping, have been learned and executed by this system.
Starting Page	784
Ending Page	789
File Size	2383858
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5652268
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humans Decision making Robot kinematics Service robots Markov processes Computational modeling
Content Type	Text
Resource Type	Article

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