An Alignment-Based Approach to Learning Motions From Demonstrations

Learning from Demonstration (LfD) has shown to provide robots with fundamental motion skills for a variety of domains. Various branches of LfD research (e.g., learned dynamical systems and movement primitives) can generally be classified into “time-dependent” or “time-independent” systems. Each provides fundamental benefits and drawbacks – time-independent methods cannot learn overlapping trajectories, while time- dependence can result in undesirable behavior under perturbation. This paper introduces Cluster Alignment for Learned Motions (CALM), an LfD framework dependent upon an alignment with a representative “mean” trajectory of demonstrated motions rather than pure time- or state- dependence. We discuss the convergence properties of CALM, introduce an alignment technique able to handle the shifts in alignment possible under perturbation, and utilize demonstration clustering to generate multi-modal behavior. We show how CALM mitigates the drawbacks of time-dependent and time-independent techniques on 2D datasets and implement our system on a 7-DoF robot learning tasks in three domains.