Robot Imitation Learning of High-Level Planning Information
NAVAL ACADEMY ANNAPOLIS MD DEPT OF COMPUTER SCIENCE
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We present a system that enables a robot to learn to plan through demonstration and imitation. An imitator acquires planning operators by observing a demonstrators, segmenting the demonstrators actions into planning steps, and learning the preconditions and effects of the operators. When the imitator tries to execute its own plans, it learns to perform the operations through reinforcement learning, and corrects errors in the previously learned operator effects.