NDLI: Dimensionality reduction for trajectory learning from demonstration

Content Provider	IEEE Xplore Digital Library
Author	Melchior, N.A. Simmons, R.
Copyright Year	2010
Description	Author affiliation: Robotics Institute of Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, USA (Melchior, N.A.; Simmons, R.)
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. Key to this approach is the careful selection of neighboring points within and between trajectories. 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. Experimental results are presented to validate this approach.
Starting Page	2953
Ending Page	2958
File Size	834389
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509913
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Orbital robotics Robot sensing systems Humans Manipulators Trajectory Navigation Wire Motion planning Robotics and automation Robotic assembly
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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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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