Hierarchical Task-Parameterized Learning from Demonstration for Collaborative Object Movement

Figure 13

Task situations involved in the experiment. Circles represent the start frames, triangles the goal frames, and asterisks the obstacle frames. Dashed circles represent the boundary of the obstacle. Note that the start frames of situations 2 and 3 coincide. With respect to the three demonstrated situations, the values for these four common situations in Algorithm 4 with the definition in Algorithm 6 are 0.071 m², 0.151 m², 0.295 m², and 0.398 m²: (a) training and the four common situations in world frame; (b) the four common situations aligned by their start frames.

(a)

(b)