Ergodic imitation: Learning from what to do and what not to do
Aleksandra Kalinowska Ahalya Prabhakar Kathleen Fitzsimons Todd Murphey Aleksandra Kalinowska Ahalya Prabhakar Kathleen Fitzsimons Todd Murphey
With growing access to versatile robotics, it is beneficial for end users to be able to teach robots tasks without needing to code a control policy. One possibility is to teach the robot through successful task executions. However, near-optimal demonstrations of a task can be difficult to provide and even successful demonstrations can fail to capture task aspects key to robust skill replication. H...