A Human Robot Interaction Framework for Robotic Motor Skill Learning

Abstract

A considerable amount of research in the field of human-robot interaction has shown that a human teacher can be an integral component during the learning process of a robot. In this paper, we propose a learning framework that is based on learning from demonstration at a trajectory level. Specifically, we illustrate a scenario where the Sawyer Robotic Arm must learn to pick and place a specific object according to the demonstration of a human teacher. The purpose of the experiment is to facilitate the effectiveness of the proposed method.