Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 12 of 12 for “"Learning from demonstration"”.
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Bayesian nonparametric reward learning from demonstration
Learning from demonstration provides an attractive solution to the problem of teaching autonomous systems how to perform complex tasks. Demonstration opens autonomy development to non-experts and is an intuitive means of communication for humans, who naturally use demonstration to teach others. …
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Adaptive learning from demonstration in heterogeneous agents: Concurrent minimization and maximization of surprise in sparse reward environments
Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2025-12-01
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Inverse optimal control for differentially flat systems with application to lower-limb prosthetic devices
… the process of choosing these parameters by learning from demonstration. To learn impedance controller parameters for flat-ground, we adopt the method of learning from exemplar trajectories. Since we do not at first have exemplar joint trajectories that are specific to each patient, we use …
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Robot Learning Assembly Tasks from Human Demonstrations
… as they do not have sufficient sensing and learning capabilities. It remains a big challenge for robotic assembly operations to be conducted in unstructured environments today. This thesis research focuses on the development of robot learning from demonstration (LfD) for the robotic assembly …
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On learning from videos/
… types of cell phones. Previous works on robot learning from demonstration are hardly applicable due to the complexity of teaching, huge amounts of data and difficulty in generalization. To tackle these problems, we try to learn from videos and extract useful information for the robot. To reduce …
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Taste-Enabled Robotic Chef On Robots Learning to Cook from Taste Feedback and Human Demonstration
… works in conjunction with control and machine learning algorithms to form a feedback loop in the context of cooking. Robotic chef faces many challenges including sensing properties of food, manipulation and learning from a limited amount of data, but the biggest challenge is the subjective …
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Learning Activities From Human Demonstration Videos
… approaches to observe and learn activities from human demonstration videos. We specifically focus on using first-person and close up videos for learning new activities, rather than traditional third-person videos that have static and global fields of view. Since the specific objective of …
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Inverse optimal control for deterministic continuous-time nonlinear systems
… contains an unknown perturbation. Results from simulation experiments show that our new method is computationally efficient relative to prior methods, performs similarly to prior approaches under large perturbations to the system, and better learns the true cost function under small …
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Managing learning interactions for collaborative robot learning
… shares the responsibility in guiding its own learning process and is a collaborator in the learning. Additionally, given the robot requires some tutelage from its partner, awareness of constraints on the teacher’s time and cognitive resources available for devoting to the interaction could …
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Moving and adapting with a learning exoskeleton
… (sEMG) - reading electrical signals from muscles - is one way to estimate human intent. sEMG contains anticipatory information that precedes the associated limb movement, allowing for better human-exoskeleton coordination than reactive control methods. However, sEMG is very sensitive …
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iART: An intelligent assistive robotic therapy system for home-based stroke rehabilitation
… uses surface electromyography (sEMG) and data from the robotic device to monitor a patient's performance/engagement levels in realtime and adapt the system accordingly. The realization of an AI agent to monitor a patient is the key contribution of this work. The dissertation also proposes the …