RE:BT-Espresso: Improving Interpretability and Expressivity of Behavior Trees Learned from Robot Demonstrations
Adam Wathieu,Thomas R. Groechel,Haemin Jenny Lee,Chloe Kuo,Maja J. Matarić,Adam Wathieu,Thomas R. Groechel,Haemin Jenny Lee,Chloe Kuo,Maja J. Matarić
Behavior trees (BTs) are hierarchical agent control architectures popular for robot task-level planning that can be autonomously learned from robot demonstrations via decision tree (DT) intermediaries, making them accessible to non-expert users. Conversion algorithms from DTs to BTs, such as the BT-Espresso algorithm, focus on replicating DT logic in a BT format but do not exploit the strengths of...
