Learning Task-Parameterized Skills From Few Demonstrations

J. Zhu, Michael Gienger, J. Kober

Research output: Contribution to journalArticleScientificpeer-review

Abstract

Moving away from repetitive tasks, robots nowadays demand versatile skills that adapt to different situations. Task-parameterized learning improves the generalization of motion policies by encoding relevant contextual information in the task parameters, hence enabling flexible task executions. However, training such a policy often requires collecting multiple demonstrations in different situations. To comprehensively create different situations is non-trivial thus renders the method less applicable to real-world problems. Therefore, training with fewer demonstrations/situations is desirable. This paper presents a novel concept to augment the original training dataset with synthetic data for policy improvements, thus allows learning task-parameterized skills with few demonstrations.
Original languageEnglish
Pages (from-to)4063-4070
JournalIEEE Robotics and Automation Letters
Volume7
Issue number2
DOIs
Publication statusPublished - 2022

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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