Journal article Open Access

Uncertainty-Aware Imitation Learning using Kernelized Movement Primitives

João Silvério


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{
  "inLanguage": {
    "alternateName": "eng", 
    "@type": "Language", 
    "name": "English"
  }, 
  "description": "<p>During the past few years, probabilistic approaches to imitation learning have earned a relevant place in the robotics literature. One of their most prominent features is that, in addition to extracting a mean trajectory from task demonstrations, they provide a variance estimation. The intuitive meaning of this variance, however, changes across different techniques, indicating either variability or uncertainty. In this paper we leverage kernelized movement primitives (KMP) to provide a new perspective on imitation learning by predicting variability, correlations and uncertainty using a single model. This rich set of information is used in combination with the fusion of optimal controllers to learn robot actions from data, with two main advantages: i) robots become safe when uncertain about their actions and ii) they are able to leverage partial demonstrations, given as elementary sub-tasks, to optimally perform a higher level, more complex task. We showcase our approach in a painting task, where a human user and a KUKA robot collaborate to paint a wooden board. The task is divided into two sub-tasks and we show that the robot becomes compliant (hence safe) outside the training regions and executes the two sub-tasks with optimal gains otherwise</p>", 
  "license": "https://creativecommons.org/licenses/by/4.0/legalcode", 
  "creator": [
    {
      "affiliation": "Idiap Research Institute, Martigny, Switzerland", 
      "@type": "Person", 
      "name": "Jo\u00e3o Silv\u00e9rio"
    }
  ], 
  "headline": "Uncertainty-Aware Imitation Learning using Kernelized Movement Primitives", 
  "image": "https://zenodo.org/static/img/logos/zenodo-gradient-round.svg", 
  "datePublished": "2019-09-30", 
  "url": "https://zenodo.org/record/3676791", 
  "@context": "https://schema.org/", 
  "identifier": "https://doi.org/10.5281/zenodo.3676791", 
  "@id": "https://doi.org/10.5281/zenodo.3676791", 
  "@type": "ScholarlyArticle", 
  "name": "Uncertainty-Aware Imitation Learning using Kernelized Movement Primitives"
}
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