基于示教编程的共融机器人技能学习方法的研究进展

Learning from demonstration provides a convenient and feasible way for the fir-co (coexisting-cooperative-cognitive) robot to accomplish complex and various domestic tasks. Based on this approach, the non-expert can easily teach the robot new motion skills to accomplish various domestic household tasks without tedious programming process. The skill learning approach is the key of learning from demonstration approach. Firstly, this study introduces the learning from demonstration approach and analyzes the learning framework. Then, the current studies are categorized into two kinds based on policy learning and representation approach. The typical approaches of each category are introduced in detail. Finally, these two categories comparatively are analyzed and the prospect of the development direction of this direction is proposed.