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2006
ACM

Teaching robots by moulding behavior and scaffolding the environment

11 years 11 months ago
Teaching robots by moulding behavior and scaffolding the environment
Programming robots to carry out useful tasks is both a complex and non-trivial exercise. A simple and intuitive method to allow humans to train and shape robot behaviour is clearly a key goal in making this task easier. This paper describes an approach to this problem based on studies of social animals where two teaching strategies are applied to allow a human teacher to train a robot by moulding its actions within a carefully scaffolded environment. Within these enviroments sets of competences can be built by building state/action memory maps of the robot’s interaction within that environment. These memory maps are then polled using a k-nearest neighbour based algorithm to provide a generalised competence. We take a novel approach in building the memory models by allowing the human teacher to construct them in a hierarchical manner. This mechanism allows a human trainer to build and extend an action-selection mechanism into which new skills can be added to the robot’s repertoire...
Joe Saunders, Chrystopher L. Nehaniv, Kerstin Daut
Added 13 Jun 2010
Updated 13 Jun 2010
Type Conference
Year 2006
Where HRI
Authors Joe Saunders, Chrystopher L. Nehaniv, Kerstin Dautenhahn
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