1. Robotic Behavioral Cloning Through Task Building
- Author
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Hyunseok Kim, Chan-Won Park, Young-Sung Son, Jinchul Choi, and Jun-Hee Park
- Subjects
Cloning (programming) ,Computer science ,05 social sciences ,Robot manipulator ,010501 environmental sciences ,01 natural sciences ,Robot learning ,Task (project management) ,Action (philosophy) ,Human–computer interaction ,0502 economics and business ,Trajectory ,Robot ,050207 economics ,0105 earth and related environmental sciences - Abstract
Robot learning by demonstration is a research paradigm that can play an important role in expanding areas where robots can be applied. An easy method to get a policy to reproduce the demonstrated behavior is to learn a model that maps directly from demonstrations to action. This is referred to as behavioral cloning (BC). In this paper, a novel robotic BC method for directly imitating a policy from trajectories generated by performing a task is proposed. The proposed method not only allows a user to obtain a demonstrated trajectory for performing a task by manipulating the robot, but also automatically generates a trajectory by having the robot perform the task on behalf of the user. Experiment results showed that the proposed method can effectively learn to make accurate behavior prediction for robot manipulators.
- Published
- 2020