Robot Learning from Demonstration Using Elastic Maps
Brendan Hertel,Matthew Pelland,S. Reza Ahmadzadeh,Brendan Hertel,Matthew Pelland,S. Reza Ahmadzadeh
Learning from Demonstration (LfD) is a popular method of reproducing and generalizing robot skills from human-provided demonstrations. In this paper, we propose a novel optimization-based LfD method that encodes demon-strations as elastic maps. An elastic map is a graph of nodes connected through a mesh of springs. We build a skill model by fitting an elastic map to the set of demonstrations. The ...
