Generation of a Task-Model by Integrating Multiple Observations of Human Demonstrations
Most of the approaches to ``Learning from Observation'' so far assume that a demonstration can be well understood from a single demonstration. But a single demonstration contains ambiguity, in that interactions which are essential to complete a task can't be discerned without prior task dependent knowledge, which should be obtained from observation. To address these issues, we propose a technique to integrate multiple observations of demonstrations and estimate essential interactions automatically. The demonstrations differ, but indicate virtually a same task. The shared interactions among all the demonstrations are considered to be essential and a task model is generated from them.
Publications
[1] K. Ogawara, J. Takamatsu, H. Kimura and K. Ikeuchi: Generation of a Task Model by Integrating Multiple Observations of Human Demonstrations, ICRA02, pp.1545-1550, 2002.[2] K. Ogawara, S. Iba, T. Tanuki, J. Takamatsu, H. Kimura and K. Ikeuchi: Acquiring Hand-action Models by Attention Point Analysis, ICRA01, pp.465-470, 2001.
