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Learning from human demonstrations Translate learned behaviours into actions

Learning from human demonstrations Translate learned behaviours into actions. Learning from human demonstrations Translate learned behaviours into actions. How humans grasp objects?. What can be learned from a human demonstrator?

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Learning from human demonstrations Translate learned behaviours into actions

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  1. Learning from human demonstrations • Translate learned behaviours into actions

  2. Learning from human demonstrations • Translate learned behaviours into actions

  3. How humans grasp objects?

  4. What can be learned from a human demonstrator? How kinematics discrepancies between human and robot impact on the learning?

  5. Learning from human demonstrations • Translate learned behaviours into actions

  6. From data to action: lowering the grasping dimensionalities through synergies

  7. Teaching…..

  8. Teaching….. ….executing…..

  9. Teaching….. ….executing….. …..generalizing!

  10. Choosing the right precision is important!

  11. How much precision is needed to grasp sufficiently well a class of objects? • How much can generalize a given set of primitives? How can we define the extension of an object class? • Which is the best learning technique? Motion capture vs kinaesthetic teaching

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