Abstract：A new method of Learning from Demonstration based on comparative demons is proposed in this paper, in order to make the robot′s task learning procedure faster in a simulated household environment. Given an instruction of task learning, the robot detects and tracks the targets by computer vision in each instance that the teacher demonstrates, and then converts key information of the task into symbolic presentations through action recognition and state exploration. At last, derives task-related decisions and constraints using cognitive reasoning and transforms them into predications of instructions to guide the robot′s behaviors. With the new knowledge learnt, the robot successfully fulfilled the same given task under several different simulated settings in a reproducible way. It shows that the mentioned means is effective in the learning procedure under home environment.
陈世佳，尹东，张荣，王德建. 认知推理的家庭服务机器人演示学习研究[J]. , 2013, 34(6): 1441-1445.
CHEN Shi-jia,YIN Dong,ZHANG Rong,WANG De-jian. Research in Learning from Demonstration Based on Cognitive Reasoning for Family Service Robot. , 2013, 34(6): 1441-1445.
