Programming by Demonstration: A Taxonomy of Current Relevant Methods to Teach and Describe New Skills to Robots

摘要: Programming by Demonstration (PbD) covers methods which a robot learns new skills through human guidance and imitation. PbD has been key topic in robotics during the last decade that includes development of robust algorithms for motor control, learning, gesture recognition visual-motor integration. Nowadays, deals more with learning than traditional approaches, frequently it is referred to as Imitation Learning or Behavioral Cloning. This work will review analyse existing works order create taxonomy elements constitute most relevant approaches this field date. We intend establish categories types involved so far describing their advantages disadvantages potential developments.