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

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”。以机器人为基础。Me是一个远程机器人研究实验室，这项研究将结合示范学习（LfD）和云机器人技术，使任何可以上网的人都能教机器人做家务。这项工作的价值源于三个方面。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，而不是低级运动技能。二是示范学习向多名教师的延伸。这代表了对限制性假设的重要放松，将重点放在评估教师的优势和有效处理不同的任务解决方案上。最后，透明机制允许远程用户建立关于机器人的正确心智模型？S学习过程。这项研究的长期目标是有一天让个人机器人进入日常生活。基于RobotsFor的交互式学习框架。Me为教育和推广提供了独特的机会。托马斯和切尔诺娃将通过创建一个围绕RobotsFor的教育门户网站，向K-12的教师和学生提供服务。我包含动手车间课程。该材料将与面向中学生的WPI前沿项目和面向教师的GT ePDN专业教育网整合。对GT和WPI学生的一个关键影响将是直接参与这项研究议程，并与人工智能、机器人和人力资源研究所课程相结合。切尔诺娃是机器人工程项目的多样性协调员，也是女性机器人工程和女性技术学生小组的指导老师，这将使她们能够广泛接触。托马斯指导机器人女性的女毕业生？s组。软件组件也将以开源的形式提供，项目负责人与柳树车库的研究人员有一个合作计划，并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.