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Conference Paper Robotic Behavioral Cloning Through Task Building
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Authors
Jinchul Choi, Hyunseok Kim, Youngsung Son, Chan-Won Park, Jun Hee Park
Issue Date
2020-10
Citation
International Conference on Information and Communication Technology Convergence (ICTC) 2020, pp.1279-1281
Publisher
IEEE
Language
Korean
Type
Conference Paper
DOI
https://dx.doi.org/10.1109/ICTC49870.2020.9289148
Abstract
Robot learning by demonstration is a research paradigm that can play an important role in expanding areas where robots can be applied. An easy method to get a policy to reproduce the demonstrated behavior is to learn a model that maps directly from demonstrations to action. This is referred to as behavioral cloning (BC). In this paper, a novel robotic BC method for directly imitating a policy from trajectories generated by performing a task is proposed. The proposed method not only allows a user to obtain a demonstrated trajectory for performing a task by manipulating the robot, but also automatically generates a trajectory by having the robot perform the task on behalf of the user. Experiment results showed that the proposed method can effectively learn to make accurate behavior prediction for robot manipulators.
KSP Keywords
BC method, Behavior Prediction, Experiment results, Learning by demonstration, Robot Learning, Robot manipulator, behavioral cloning