Title:
Learning contiguity-based hierarchical task models from demonstration
Learning contiguity-based hierarchical task models from demonstration
| dc.contributor.advisor | Thomaz, Andrea L. | |
| dc.contributor.author | Rossignac-Milon, Leo Thomas | |
| dc.contributor.committeeMember | Christensen, Henrik I. | |
| dc.contributor.department | Computer Science | |
| dc.date.accessioned | 2015-02-03T18:06:36Z | |
| dc.date.available | 2015-02-03T18:06:36Z | |
| dc.date.created | 2014-12 | |
| dc.date.issued | 2015-01-28 | |
| dc.date.submitted | December 2014 | |
| dc.date.updated | 2015-02-03T18:06:36Z | |
| dc.description.abstract | We propose an incremental approach for learning a hierarchical task model from a series of demonstrations, where each demonstration is a permutation of a fixed number of different actions. Our hierarchical Task Execution Model, called TEM, is a tree, where each leaf represents an action and each node represents a composite action (or subtask). We distinguish three types of composite nodes (s-group: sequential, r-group: reversible, and u-group: unordered). Although the sub-task children of a node must always be executed as a contiguous (uninterrupted) sequence, the valid orders for that sequence depend on the node type. Hence, a TEM captures a well-defined set of contiguity and ordering constraints. TEM may be used to test quickly whether a candidate plan of actions is compatible with the task model and also to provide a list of valid actions at any step during the lazy execution of a task. We propose an incremental algorithm that takes as input the current TEM learned from previous demonstrations and a new demonstration in order to produce a new TEM. | |
| dc.description.degree | Undergraduate | |
| dc.format.mimetype | application/pdf | |
| dc.identifier.uri | http://hdl.handle.net/1853/53174 | |
| dc.language.iso | en_US | |
| dc.publisher | Georgia Institute of Technology | |
| dc.subject | Learning | |
| dc.subject | Demonstration | |
| dc.subject | Robotics | |
| dc.subject | Contiguity | |
| dc.subject | Contiguous | |
| dc.subject | Proximity | |
| dc.subject | Action | |
| dc.subject | Task | |
| dc.title | Learning contiguity-based hierarchical task models from demonstration | |
| dc.type | Text | |
| dc.type.genre | Undergraduate Thesis | |
| dspace.entity.type | Publication | |
| local.contributor.corporatename | College of Computing | |
| local.contributor.corporatename | School of Computer Science | |
| local.contributor.corporatename | Undergraduate Research Opportunities Program | |
| local.relation.ispartofseries | Undergraduate Research Option Theses | |
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| relation.isSeriesOfPublication | e1a827bd-cf25-4b83-ba24-70848b7036ac | |
| thesis.degree.level | Undergraduate |