Muhammad Asif Rana, Mustafa Mukadam, S. Reza Ahmadzadeh, Sonia Chernova, Byron Boots
Reference:
Muhammad Asif Rana, Mustafa Mukadam, S. Reza Ahmadzadeh, Sonia Chernova and Byron Boots, "Skill
Generalization via Inference-Based Planning", In Proc. Robotics: Science and Systems (RSS),
Workshop on Mathematical Models, Algorithms, and Human-Robot Interaction, Boston, MA, USA, pp. 1--3,
12th-16th Jul. 2017.
Bibtex Entry:
@INPROCEEDINGS{rana2017skill,
TITLE={Skill Generalization via Inference-Based Planning},
AUTHOR={Rana, Muhammad Asif and Mukadam, Mustafa and Ahmadzadeh, Seyed Reza and Chernova, Sonia and Boots, Byron},
BOOKTITLE={Robotics: Science and Systems ({RSS}), Workshop on Mathematical Models, Algorithms, and Human-Robot Interaction},
PAGES={1--3},
YEAR={2017},
MONTH={July},
ADDRESS={Boston, MA, USA},
}
Abstract:
We present a novel approach which unifies conventional learning from demonstration (LfD) and motion
planning using probabilistic inference, for generalizable skill reproduction. We also provide a new
probabilistic skill model that requires minimal parameter tuning, and is more suited for encoding
skill constraints and performing inference in an efficient manner. Experimental validation on a
manipulation skill is presented.