An Experimental Setup for Robot Learning From Human Observation using Deep Neural Networks
Bibliographic record
Abstract
Industrial robots have gained great popularity in the last twenty years and become an integral component in many sectors empowering automation. Typically, trained technicians program robots before being commissioned into a production environment to perform a specific job. However, this method is suitable when the working environment is well structured with fixed parameters. Learning from demonstration (LfD) has emerged as an alternative robot programming paradigm for working in a dynamic production atmosphere with several uncertainties to obviate re-programming robots when something changes in the workplace. In this paper, we developed an LfD system based on computer vision to observe human actions and deep learning to perceive the demonstrator’s actions and manipulated objects. Object detection, object classification, pose estimation, and action recognition tasks are performed by deep neural networks. The proposed LfD method was demonstrated and tested with industrial robots for a pick-and-place application with 95% accuracy.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".