NRI: Small: Collaborative Research: Learning from Demonstration for Cloud Robotics

这项拟议的工作旨在利用云计算使机器人能够有效地向远程人类领域专家学习--“从演示中进行云学习”。这项研究建立在远程机器人研究实验室RobotsFor.Me的基础上，将把从演示中学习(LFD)和云机器人技术结合起来，使任何可以上网的人都能教机器人做家务。这部作品的价值来自三个方面。首先是远程系统，它可以从单个用户的一系列远程演示中学习任务模型，专注于学习高级任务，而不是低级别的运动技能。二是示范性学习向多元教师延伸。这代表着一个限制假设的重要放松，即专注于评估教师的优势和有效地处理不同的任务解决方案。最后，允许远程用户建立关于机器人的正确心理模型的透明机制？S的学习过程。这项研究的长期目标是有朝一日使个人机器人能够接触到普通人。基于RobotsFor.Me的互动学习框架为教育和推广提供了独特的机会。Thomaz和Chernova将通过创建一个围绕RobotsFor.Me的教育门户网站来接触K-12教师和学生，其中包含动手研讨会课程。该材料将与面向中学生的WPI Frontiers计划和面向教师的GT ePDN专业教育网络相结合。对GT和WPI的学生的关键影响将是直接参与这项研究议程，以及与人工智能、机器人和HRI课程的整合。切尔诺娃是机器人工程项目的多样性协调员，也是机器人工程女性和技术女性学生团体的教师顾问，这将使Braod获得曝光率。托马兹指导的机器人女性毕业生？S小组。软件组件也将以开源形式提供，PI与Willow Garage的研究人员制定了合作计划，并将通过学生实习将技术转移到他们的实验室。

The proposed work seeks to leverage cloud computing to enable robots to efficiently learn from remote human domain experts - "Cloud Learning from Demonstration." Building on RobotsFor.Me, a remote robotics research lab, this research will unite Learning from Demonstration (LfD) and Cloud Robotics to enable anyone with Internet access to teach a robot household tasks. The value of this work stems from three aspects. First is the remote system that can learn task models from a series of remote demonstrations from a single user, focusing on learning high-level tasks as opposed to low-level motor skills. The second is the extension of learning from demonstration to multiple teachers. This represents an important relaxation of a limiting assumption to focus on evaluating teacher strengths and effectively handling distinct task solutions. Finally, transparency mechanisms to allow a remote user to develop a correct mental model about the robot?s learning process.The long term goal of this research is to one day make personal robots accessible to everyday people. The interactive learning framework based on RobotsFor.Me provides unique opportunities for education and outreach. Thomaz and Chernova will outreach to K-12 teachers and students by creating an education portal surrounding RobotsFor.Me containing hands-on workshop curricula. This material will be integrated with the WPI Frontiers program for middle school students, and the GT ePDN professional education network for teachers. A key impact on students at GT and WPI will be direct involvement in this research agenda, and integration with AI, robotics and HRI courses. Chernova is the Diversity Coordinator in the Robotics Engineering Program, and faculty advisor for Women In Robotics Engineering and Women in Technology student groups which will enable braod exposure. Thomaz mentors the RoboWomen graduate women?s group. Software components will also be made available as open source and the PIs have a collaboration plan in place with researchers at Willow Garage, and through student internships will transfer technology to their labs.