BNG-IRL segmentation and GMR-based anomaly detection let robots learn multi-step contact tasks from a few demonstrations, detect deviations, and incrementally add recovery behaviors.
In: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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Hierarchical Task Decomposition for Execution Monitoring and Error Recovery: Understanding the Rationale Behind Task Demonstrations
BNG-IRL segmentation and GMR-based anomaly detection let robots learn multi-step contact tasks from a few demonstrations, detect deviations, and incrementally add recovery behaviors.