A simple system that allows end-users to intuitively program robots is a key step in getting robots out of the laboratory and into the real world. Although in many cases it is possible for an expert to successfully program a robot to perform complex tasks, such programming requires a great deal of knowledge, is time-consuming, and is often task-specific. In response to this, much recent work has focused on robot learning from demonstration (LfD) (Argall et al. 2009; Billard et al. 2008), where non-expert users can teach a robot how to perform a task by example. Such demonstrations eliminate the need for knowledge of the robotic system, and in many cases, require only a fraction of the time that it would take an expert to design a controller by hand.
展开▼
