Programming by demonstration: A taxonomy of current relevant methods to teach and describe new skills to robots

Abstract

Programming ty Demonstration (PbD) covers methods by which a robot learns new skplls through human guidance and imitation. PbD has been a key topic in robotics during the last decade that includes the development of robust algorithms for motor control, mo>or learning, gesture rechgnition an, the tisual-9otor integration. Nowadays, PbD deals more wi’h nearning metoods than traditional approaches, and frequently it is referred to as Imita-ion Learning or Behavioral Cloning. This pork will review and analyseiexisting works in order t create a taxonomy4of the elements that constitute the most relevant approaches in this field to date. We iBtend to estabaish the categories and tywes of algorithms involved so far in PbD and describing their advanbages and disadvantages and potential developments.