1. Towards teaching from demonstration in industrial collaborative
environments
EPFL
Skill transfer
Robots that learn from humans ...
Collaborative manufacturing
ABB
... and share their workspace
with humans
Jose R. Medina and Aude Billard

2. Learning robust compliant controllers for position-based tasks …
Goal: efficient but also compliant controller
Continuously
react and replan
Impedance control
Autonomous stable dynamical systems
Continuous
human disturbances +
K. Kronander and A. Billard, Passive Interaction Control with Dynamical Systems, IEEE Robotics and Automation Letters, 2016
Towards teaching from demonstration in industrial collaborative
environments

3. … and position/force tasks
Continuously
react and replan
Hybrid pos/force control
Continuous
human disturbances
Autonomous stable dynamical systems
Learn desired contact force
Robot
Position controlled direction
Force controlled direction
A.L. Pais, U. Keisuke Umezawa, Y. Nakamura and A. Billard. Task Parametrization Using Continuous Constraints Extracted from Human Demonstrations. IEEE TRO, 2015
Towards teaching from demonstration in industrial collaborative
environments

4. Open issues
We can teach relatively complex tasks with expert teachers but…
… being a teacher is difficult!
How to segment complex tasks for the robot as a teacher?
How to demonstrate complex motions? Which interface?
What is the simplest teaching interface?
Continuous teaching
(minimal interface: no teaching/reproduction phases)
Continuously react, replan and learn
Continuous
human feedback
Many repetitions/iterations!
How should the robot assimilate human feedback? Is it always perfect? Can we measure its quality?
Towards teaching from demonstration in industrial collaborative
environments