Learning from a Single Demonstration: Motion Planning with Skill Segmentation
Scott Kuindersma, George Konidaris, Roderic A. Grupen, Andrew G. Barto · ScholarWorks@UMassAmherst (University of Massachusetts Amherst) · 2010
We propose an approach to control learning from demonstration that first segments demonstration trajectories to identify subgoals to solve the overall task. Using this approach, we show that a mobile robot is able to solve a combined navigation and manipulation task robustly after observing only a single successful trajectory.