1A1-E10 間違いを含む教示データを用いたロボットの動作学習(進化・学習とロボティクス(1))

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  • 1A1-E10 Motion Learning Using Direct Teaching Including Improper Instructions(Evolution and Learning for Robotics(1))

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Robots are expected to be able to cooperate with and assist us in our daily life. It is necessary for robots to perform a variety of tasks that were required by ordinary people who is not skilled at the control of a robot. In such a case, a direct teaching seems effective to program robot's motions. Since ordinary people may sometimes teach improper motions, it is necessary for a robot to learn appropriate motions autonomously using instructions including improper motions. To achieve this, we propose a control method inspired by a nonparametric model. In this method, a robot selects an action out of instructions where the fitness of each data is determined by a reinforcement learning algorithm. We also analyzed the properties of the trained controller.

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