Acquisition of Behavioral Patterns Depends on Self-Embodiment Based on Robot Learning Under Multiple Instructors
Masato Kotake*,**, Daisuke Katagami*, and Katsumi Nitta*
*Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, 4259 Nagatsuta-cho, Midori-ku, Yokohama, 226-8503, Japan
**Daikin Industries, Ltd., 1304 Kanaokacho, Kitaku, Sakaishi, Osaka
We focus on robotic learning under multiple instructors. Even when their goal is the same, different instructors inevitably was different approaches. We propose incorporating DP matching and clustering, classifying the teaching demonstrations of instructors into groups of similar ones. Experiments in which an AIBO robot was taught to walk forward demonstrated that our proposal acquired appropriate teaching approaches based on AIBO’s different embodiments and maximizing task accomplishment.
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