AAAI Publications, Thirty-First AAAI Conference on Artificial Intelligence

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Associate Latent Encodings in Learning from Demonstrations
Hang Yin, Francisco S. Melo, Aude Billard, Ana Paiva

Last modified: 2017-02-12

Abstract


We contribute a learning from demonstration approach for robots to acquire skills from multi-modal high-dimensional data. Both latent representations and associations of different modalities are proposed to be jointly learned through an adapted variational auto-encoder. The implementation and results are demonstrated in a robotic handwriting scenario, where the visual sensory input and the arm joint writing motion are learned and coupled. We show the latent representations successfully construct a task manifold for the observed sensor modalities. Moreover, the learned associations can be exploited to directly synthesize arm joint handwriting motion from an image input in an end-to-end manner. The advantages of learning associative latent encodings are further highlighted with the examples of inferring upon incomplete input images. A comparison with alternative methods demonstrates the superiority of the present approach in these challenging tasks.

Keywords


MLA: Machine Learning Applications (General/other); ML: Deep Learning/Neural Networks; ROB: Behavior and Control

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