Online task segmentation by merging symbolic and data-driven skill recognition during kinesthetic teaching

Programming by Demonstration (PbD) is used to transfer a task from a human teacher to a robot, where it is of high interest to understand the underlying structure of what has been demonstrated. Such a demonstrated task can be represented as a sequence of so-called actions or skills. This work focuse...

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Bibliographic Details
Published in:	Robotics and autonomous systems Vol. 162; p. 104367
Main Authors:	Eiband, Thomas, Liebl, Johanna, Willibald, Christoph, Lee, Dongheui
Format:	Journal Article
Language:	English
Published:	Elsevier B.V 01.04.2023
Subjects:	Action segmentation Data-driven Force-based Interactive robot programming Intuitive robot programming Kinesthetic teaching Learning from demonstration Online segmentation Programming by demonstration Robot Skill recognition Subsymbolic Symbolic Tactile Task representation Task segmentation Interactive robot programming Subsymbolic Action segmentation Task representation Online segmentation Learning from demonstration Programming by demonstration Intuitive robot programming Force-based Kinesthetic teaching Data-driven Task segmentation Robot Skill recognition Symbolic Tactile
ISSN:	0921-8890
Online Access:	Get full text
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