Imitation of Demonstrations Using Bayesian Filtering with Nonparametric Data-Driven Models

Nurali Virani, Devesh K. Jha, Zhenyuan Yuan, Ishana Shekhawat, Asok Ray

Research output: Contribution to journalArticle

1 Scopus citations

Abstract

This paper addresses the problem of learning dynamic models of hybrid systems from demonstrations and then the problem of imitation of those demonstrations by using Bayesian filtering. A linear programming-based approach is used to develop nonparametric kernel-based conditional density estimation technique to infer accurate and concise dynamic models of system evolution from data. The training data for these models have been acquired from demonstrations by teleoperation. The trained data-driven models for mode-dependent state evolution and state-dependent mode evolution are then used online for imitation of demonstrated tasks via particle filtering. The results of simulation and experimental validation with a hexapod robot are reported to establish generalization of the proposed learning and control algorithms.

Original languageEnglish (US)
Article number030906
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Volume140
Issue number3
DOIs
StatePublished - Mar 1 2018

    Fingerprint

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Information Systems
  • Instrumentation
  • Mechanical Engineering
  • Computer Science Applications

Cite this