A Learning-from-Observation Framework: One-Shot Robot Teaching for Grasp-Manipulation-Release Household Operations

Understand

A household robot is expected to perform various manipulative operations with an understanding of the purpose of the task.

• To this end, a desirable robotic application should provide an on-site robot teaching framework for non-experts.
• Here we propose a Learning-from-Observation (LfO) framework for grasp-manipulation-release class household operations (GMR-operations).
• The framework maps human demonstrations to predefined task models through one-shot teaching.