Skill Generalization via Inference-Based Planning

Post date: Jul 04, 2017 11:35:44 PM

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.