Instructing Robots by Sketching: Learning from Demonstration via Probabilistic Diagrammatic Teaching

arXiv:2309.03835v3 Announce Type: replace-cross
Abstract: Learning for Demonstration (LfD) enables robots to acquire new skills by imitating expert demonstrations, allowing users to communicate their instructions in an intuitive manner. Recent progress in LfD often relies on kinesthetic teaching or teleoperation as the medium for users to specify the demonstrations. Kinesthetic teaching requires physical handling of the robot, while teleoperation demands proficiency with additional hardware. This paper introduces an alternative paradigm for LfD called Diagrammatic Teaching. Diagrammatic Teaching aims to teach …

abstract arxiv cs.lg cs.ro expert medium progress robots skills teaching teleoperation type via