Acquisition of Motion Skills by Multiple Human Teachings

Abstract

There are many researches which treat multiple teachings by a single instructor however there are few studies treat teachings by multiple instructors in Human-Agent Interaction(HAI). Multiple human teachings has two important problems which are each instructor has the different policy of teaching and a teaching has instructor's specific way. We propose a novel method enable a pet type robot aibo to acquire motion skills by multiple human teachings using DP matching and a clustering method. In order to evaluate usefulness of the proposed method, we carry out experiments that multiple instructors teach by direct teaching are given for the aibo. We obtain the findings that the averaged quality increases and instructor's ways decrease by using the proposed method.