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

NRI：小型：协作研究：从云机器人演示中学习

• 批准号: 1741552
• 负责人: Sonia Chernova
• 金额: $ 21.85万
• 依托单位: Georgia Tech Research Corporation
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-10-01 至 2018-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1741552&HistoricalAwards=false
• 关键词: NRI; Small; Collaborative; Research; Learning

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.

拟议的工作旨在利用云计算，使机器人能够从远程人类领域专家中有效学习 - “从演示中学习”。这项研究将在Robotsfor.me建立在Robotsfor.me上，该研究将团结从演示（LFD）和Cloud Robotics中学习，以使任何具有Internet访问的人都可以教授机器人家庭任务。这项工作的价值源于三个方面。首先是远程系统，可以从单个用户的一系列远程演示中学习任务模型，重点是学习高级任务，而不是低级运动技能。第二个是将学习从演示到多个教师的扩展。这代表了一个限制假设的重要放松，该假设专注于评估教师的长处并有效地处理不同的任务解决方案。最后，透明度机制使远程用户能够开发出有关机器人学习过程的正确心理模型。这项研究的长期目标是使每天的机器人可容纳日常的人。基于Robotsfor.me的互动学习框架为教育和外展提供了独特的机会。托马兹（Thomaz）和切尔诺瓦（Chernova）将通过创建一个围绕Robotsfor.me的教育门户网站来向K-12教师和学生推广，其中包含动手工作室课程。该材料将与WPI Frontiers计划为中学生和GT EPDN专业教育网络集成。对GT和WPI的学生的关键影响将直接参与该研究议程，并与AI，Robotics和HRI课程集成。切尔诺瓦（Chernova）是机器人工程计划的多样性协调员，也是机器人工程和技术学生妇女妇女妇女顾问的顾问，这将使BRAOD接触。托马兹（Thomaz）指导robowomen研究生女性小组。软件组件还将作为开源提供，PIS与Willow Garage的研究人员制定了合作计划，并且通过学生实习将将技术转移到其实验室。