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learning-from-demonstration--lfd
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Robotic Arm Manipulation Learning from Demonstration based on Reinforcement Learning
, M.Sc. Thesis Sharif University of Technology ; Khodaygan, Saeed (Supervisor)
Abstract
The field of learning from demonstration is the field in which researchers seek to create methods by which a robot can learn and reproduce a skill simply by using the demonstration of the skill. One of the main drawbacks of learning from demonstration methods is their inability to improve the learned skills. To answer this question, the reinforcement learning method can be used. The reinforcement learning approach has the potential to improve the initial skill due to the use of the experience of interacting with the environment. In this project, the dynamic movement primitives algorithm is considered as the learning from demonstration method. The research approach is that first, the dynamic...
Learning Interactive Skills of NAO Robot through Imitation Learning from Observation
, M.Sc. Thesis Sharif University of Technology ; Meghdari, Ali (Supervisor) ; Taheri, Alireza (Supervisor)
Abstract
Using learning from demonstration approaches is one of the ways to teach a robot how to perform different skills. In classic methods of learning from demonstration, the subject should wear some sensors and devices which is and expensive way. But, with the progresses that have been made in the context of computer vision, it is possible now to achieve to the same results with less cost. Learning from observation is the approach that would be used in this project to do that. By using this method, when robot watches a video, it tries to understand the behavior of the subject and behave in the same way.The purpose of the project is that the robot learns some social (interactive) skills through...
Teaching to Point at different Objects as an Interactive Gesture to Robot by Learning from Demonstration
, M.Sc. Thesis Sharif University of Technology ; Meghdari, Ali (Supervisor) ; Taheri, Alireza (Supervisor)
Abstract
The usage of robots as our friends has been proliferated these days. Knowing that they are going to be used in ordinary houses, we should develop methods and algorithms in order to provide a situation for end-users to program their own robots for their desired tasks. Learning from Demonstrations (LfD) can play a crucial role in this field. In this study, we had taught a non-verbal communication method (pointing) to a robot utilizing LfD. The learning method used was TP-GMM1. The rationale to use this method was that it models all the degrees of freedom together, and we thought it might be an essential parameter to make a movement more natural and understandable which could be two vital...