Learning Complex Sequential Tasks from Demonstration: A Pizza Dough Rolling Case Study

Personal robots are intended to assist people in their daily lives; therefore, it is important for them to efficiently learn how to accomplish tasks delineated by their human partners, in the environment in which they are situated. Toward that end ...

When an end-user instructs a taskable robot on a new task, it is important for the robot to learn the user’s intention for the task. Knowing the user’s intention, represented as desired goal conditions, allows the robot to generalize across ...

• Semantic Robot programming from multiple demonstrations for taskable robotics.
• Factor graph belief propagation for generative inference of user intention.
• Generalization to unseen task with novel classes and numbers of objects.

Robot learning from demonstration (LfD) is a common approach that allows robots to perform tasks after observing teacher's demonstrations. Thus, users without a robotics background could use LfD to teach robots. However, such users may provide low-...