ICRA 2011 Paper Abstract


Paper WeP112.3

Abbas, Tanveer (The University of Auckland), MacDonald, Bruce (University of Auckland)

Generalizing Topological Task Graphs from Multiple Symbolic Demonstrations in Programming by Demonstration (PbD) Processes

Scheduled for presentation during the Regular Sessions "Learning and Adaptive Systems I" (WeP112), Wednesday, May 11, 2011, 14:10−14:25, Room 5H

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Learning and Adaptive Systems, Service Robots, Robotic Software, Middleware and Programming Environments


Many programming by demonstration methods encode demonstrations into sequences of predefined symbols and then build a generalized task structure such as a topological graph. The longest common subsequence (LCS) algorithm is one of the potential techniques to help build generalized task structures from multiple sequences. However the LCS problem is NP hard, so a couple of suboptimal LCS approaches have been adopted in the past, involving a pair-wise comparison of sequences or a search for the common symbols within a small window. This paper argues that an LCS of multiple sequences results in a better generalization than pairwise comparison, and in many practical situations it is feasible to find an LCS of multiple sequences. So a novel LCS finding algorithm is presented for applications in the programming by demonstration domain. The algorithm has been extensively tested for sequences of random symbols and its application in a path planning example is presented.



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