Learning-from-Observation 2.0 - Ikeuchi, Katsushi;Wake, Naoki;Takamatsu, Jun
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This book presents recent breakthroughs in the field of Learning-from-Observation (LfO) resulting from advancement in large language models (LLM) and reinforcement learning (RL) and positions it in the context of historical developments in the area. LfO involves observing human behaviors and generating robot actions that mimic these behaviors. While LfO may appear similar, on the surface, to Imitation Learning (IL) in the machine learning community and Programing-by-Demonstration (PbD) in the robotics community, a significant difference lies in the fact that these methods directly imitate…mehr

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Produktbeschreibung
This book presents recent breakthroughs in the field of Learning-from-Observation (LfO) resulting from advancement in large language models (LLM) and reinforcement learning (RL) and positions it in the context of historical developments in the area. LfO involves observing human behaviors and generating robot actions that mimic these behaviors. While LfO may appear similar, on the surface, to Imitation Learning (IL) in the machine learning community and Programing-by-Demonstration (PbD) in the robotics community, a significant difference lies in the fact that these methods directly imitate human hand movements, whereas LfO encodes human behaviors into the abstract representations and then maps these representations onto the currently available hardware (individual body) of the robot, thus indirectly mimicking them. This indirect imitation allows for absorbing changes in the surrounding environment and differences in robot hardware. Additionally, by passing through this abstract representation, filtering can occur, distinguishing between important and less important aspects of human behavior, enabling imitation with fewer demonstrations and less demanding demonstrations. The authors have been researching the LfO paradigm for the past decade or so. Previously, the focus was primarily on designing necessary and sufficient task representations to define specific task domains such as assembly of machine parts, knot-tying, and human dance movements. Recent advancements in Generative Pre-trained Transformers (GPT) and RL have led to groundbreaking developments in methods to obtain and map these abstract representations. By utilizing GPT, the authors can automatically generate abstract representations from videos, and by employing RL-trained agent libraries, implementing robot actions becomes more feasible.
Autorenporträt
Dr. Katsushi Ikeuchi is a Principal Researcher at Microsoft Research Asia, Beijing, China, and an Emeritus Professor of the University of Tokyo, Japan. Dr. Hiroshi Kawasaki is a Professor in the Department of Advanced Information Technology and Head of the Computer Vision and Graphics Laboratory at Kyushu University, Fukuoka, Japan. Dr. Yasuhiro Mukaigawa is a Professor in the Division of Information Science and Head of the Optical Media Interference Laboratory at Nara Institute of Science and Technology (NAIST), Ikoma, Japan. Dr. Ryusuke Sagawa is a Senior Researcher in the Interactive Robotics Research Group of the Intelligent Systems Research Institute at the National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan Dr. Ryo Furukawa and Dr. Daisuke Miyazaki are Associate Professors in the Image Media Engineering and Computer Graphics Laboratory of the Department of IntelligentSystems at Hiroshima City University, Japan. Dr. Yasuyuki Matsushita is a Professor in the Information Science and Technology Department at Osaka University, Japan, where he leads a laboratory focusing on computer vision, machine learning, data mining, information and knowledge processing, and their applications in human-computer interaction.