Learning Daily-Life Tasks based on Labeling of Actions and Conditions by Human Demonstration and Dialog

Abstract

Daily-life humanoid robots are expected to perform a variety of tasks in the household environment. Unlike the tasks in factories, which are probably unique in each robot, there are enormous types of works desired to be done, which can also vary from person to person. In such a situation, those robots should have the ability that users can teach them new motions easily. In this paper, we introduce a new interactive-teaching system utilizing human demonstration and dialog. Each motion is labeled with the motion name which is mentioned while teaching the motion. It enables easily requesting the robot to perform a certain action, and also associating with the condition where the task should be done.