Learning from demonstration with model-based Gaussian process

Jaquier, Noémie; Ginsbourger, David; Calinon, Sylvain (2020). Learning from demonstration with model-based Gaussian process. In: Kaelbling, Leslie Pack; Kragic, Danica; Sugiura, Komei (eds.) Conference on Robot Learning. Proceedings of Machine Learning Research: Vol. 100 (pp. 247-257). PMLR

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In learning from demonstrations, it is often desirable to adapt the behavior of the robot as a function of the variability retrieved from human demonstrations and the (un)certainty encoded in different parts of the task. In this paper, we propose a novel multi-output Gaussian process (MOGP) based on Gaussian mixture regression (GMR). The proposed approach encapsulates the variability retrieved from the demonstrations in the covariance of the MOGP. Leveraging the generative nature of GP models, our approach can efficiently modulate trajectories towards new start-, via- or end-points defined by the task. Our framework allows the robot to precisely track via-points while being compliant in regions of high variability. We illustrate the proposed approach in simulated examples and validate it in a real-robot experiment.

Item Type:

Conference or Workshop Item (Paper)

Division/Institute:

08 Faculty of Science > Department of Mathematics and Statistics > Institute of Mathematical Statistics and Actuarial Science

UniBE Contributor:

Ginsbourger, David

Subjects:

300 Social sciences, sociology & anthropology > 360 Social problems & social services
500 Science > 510 Mathematics
000 Computer science, knowledge & systems

Series:

Proceedings of Machine Learning Research

Publisher:

PMLR

Language:

English

Submitter:

David Ginsbourger

Date Deposited:

09 Sep 2020 12:23

Last Modified:

09 Sep 2020 12:30

BORIS DOI:

10.7892/boris.146437

URI:

https://boris.unibe.ch/id/eprint/146437

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