A Learning from Demonstration (LfD) Framework for Enhancing MASCOT Autonomy to Support Operators' Needs

项目目标：1；进行人工操作人员在聚变反应堆内部手动控制MASCOT机械臂的实验，收集使用数据；2 .使用这些数据并应用演示学习（LFD）方法，使MASCOT机械臂能够以自主或半自主的方式在聚变反应堆内移动。进行实验，了解LfD是否能减少人工操作员的工作量，提高工作效率。4. 最后，研究半自主MASCOT机械臂集成后，操作员的信任如何随着时间的推移而建立。

The project aims: 1. To conduct experiments where human operators manually control MASCOT robotic arm inside the fusion reactor and collect the usage data, 2. To use this data and apply learning from demonstration (LFD) methods that enable the MASCOT robot arm to move inside the fusion reactor in an autonomous or semi-autonomous manner.3. To conduct experiments to understand whether the LfD minimise human operators' workload and improve task efficiency. 4. Lastly, to investigate how operators' trust establishes over time with the integration of a semi-autonomous MASCOT robotic arm.