NDLI: Learning by demonstration for tool-handling task

Content Provider	IEEE Xplore Digital Library
Author	Hoa-yu Chan Kuu-young Young Hsin-Chia Fu
Copyright Year	2010
Description	Author affiliation: Department of Computer Science, National Chiao-Tung University, Hsinchu, Taiwan (Hoa-yu Chan; Hsin-Chia Fu) \|\| Department of Electrical Engineering, National Chiao-Tung University, Hsinchu, Taiwan (Kuu-young Young)
Abstract	When the robot comes to the home-like environment, its programming becomes very demanding. The concept of learning by demonstration is thus introduced, which intends to remove the load of detailed analysis and programming from the user. Following this concept, in this paper, we propose a novel approach for the robot to deduce the intention of the demonstrator from the trajectories during task execution. We focus on the tool-handling task, which is common in the home environment, but complicated for analysis. The proposed approach does not predefine motions or put constraints on motion speed, while allowing the event order to be altered and the presence of redundant operations during demonstration. We apply the concept of cross-validation to locate the portions of the trajectory that correspond to delicate and skillful maneuvering, and apply an algorithm based on dynamic programming previously developed to search for the most probable intention. In experiments, we apply the proposed approach for two different kinds of tasks, the pouring and coffee-making tasks, with the number of objects and their locations varied during demonstrations.
Starting Page	459
Ending Page	464
File Size	1189253
Page Count	6
File Format	PDF
ISBN	9781424476428
e-ISBN	9784907764364
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-08-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	SICE
Subject Keyword	Trajectory Humans Manipulators Indexes Green products Training Skill Transfer Intention Learning Human Demonstration Motion Feature Robot Imitation
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
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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