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Learning Robot Manipulation Tasks Via Observation, Michail Theofanidis

Computer Science and Engineering Dissertations

The coexistence of humans and robots has been the aspiration of many scientific endeavors in the past century. Most anthropomorphic or industrial robots are highly articulated and complex machines, which are designed to carry out tasks that often involve the manipulation of physical objects. Traditionally, robots learn how to perform such tasks with the aid of a human programmer or operator. In this regard, the human acts as a teacher who provides a demonstration of a task. From the data of the demonstration, the robot must learn a state-action mapping that accomplishes the task. This state-action mapping is often addressed …