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Learning control strategies from examples has been identified as an important capability for many robotic systems. In this work we show how the learning process can be aided by autonomously filtering the training set provided to improve key properties of the learning process. Demonstrated with data gathered for manipulation tasks, the results herein show the improved performance when autonomous filtering...
In their interactions with the world robots inevitably face equivalent action choices, situations in which multiple actions are equivalently applicable. In this paper, we address the problem of equivalent action choices in learning from demonstration, a robot learning approach in which a policy is acquired from human demonstrations of the desired behavior. We note that when faced with a choice of...
The general idea of ldquoshapingrdquo used by ethology, behavior analysis or animal training is a remarkable method. ldquoShapingrdquo is a general idea that the learner is given a reinforcement signal step by step gradually and inductively forward the behavior from easy tasks to complicated tasks. In this paper, we propose a shaping reinforcement learning method took in a general idea of shaping...
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