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Atkeson, C. G. and S. Schaal (1997). Robot Learning From Demonstration, Machine Learning: Proceedings of the Fourteenth International Conference (ICML '97), Edited by Douglas H. Fisher, Jr. pp. 12-20, Morgan Kaufmann, San Francisco, CA, 1997.

  author = 	 {Christopher. G. Atkeson, Stefan Schaal},
  title = 	 {Robot learning from demonstration},
  booktitle = 	 {Machine Learning:
Proceedings of the Fourteenth International Conference (ICML '97)},
  OPTpages = 	 {12--20},
  OPTyear = 	 {1997},
  OPTeditor = 	 {Douglas H. Fisher, Jr.},
  OPTpublisher = {Morgan Kaufmann, San Francisco, CA},

Author of the summary: Jim R. Davies, 2000, jim@jimdavies.org

The actual paper is online at http://www.cc.gatech.edu/fac/Chris.Atkeson/publications.html.

Cite this paper for:

This paper presents research in which a robot learns from watching a person do a task. The task is the swing up task, balancing a weight on a stick above the hand by swinging it from below.

A computer vision system watched a human do the task. The things to watch for were put in by the experimenters: pendulum angle, angular velocity, hand position, hand velocity.

Building complex motions out of motion primitives.

The system tries to imitate the human, and rewards or punishes itself, as appropriate, depending on how much what it did looked like that the human did.

The motions of the robot hand were very different than that demonstrated. This is interesting: from demonstration it learned a new way to do something.

Summary author's notes:

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