Many robots are designed for use in domestic environments where robots will be engaged in house- hold chores. The robots need to learn ways to do the household chores that humans are now doing. We are taking a learning from demonstration (LfD) approach to this problem. In terms of the household chores, a number of tasks are developed so far; for example, bringing a beer bottle from a refrigerator to a human, making pancakes [2], and folding towels. However, a key issue for robots to do household chores is how to treat different versions of each task. Consider an opening task. There are a number of ways to open a container: rotating a cap on a plastic bottle, pulling a hinge cap of a ketchup bottle, pulling a pop- tab of a beer can, tearing a bag of potato chips, and so on. In addition, when opening a tight jar, we will use a different way to open it, like holding a cap with a wet towel. We call these methods skills. Learning these skills is essential for robots to fully handle tasks.
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