{"id":4524,"date":"2020-06-23T17:27:50","date_gmt":"2020-06-23T09:27:50","guid":{"rendered":"http:\/\/pairlabs.ai.pro6.designworks.tw\/?post_type=portfolio&#038;p=4524"},"modified":"2021-12-14T14:08:34","modified_gmt":"2021-12-14T06:08:34","slug":"development-of-theory-and-systems-of-robot-learning-from-human-demonstration-lfd-development-of-learning-from-human-demonstration-robot-p-en","status":"publish","type":"portfolio","link":"https:\/\/pairlabs.ai\/en\/portfolio-item\/development-of-theory-and-systems-of-robot-learning-from-human-demonstration-lfd-development-of-learning-from-human-demonstration-robot-p-en\/","title":{"rendered":"Development of Learning from Human Demonstration Robot"},"content":{"rendered":"<\/div><\/div><\/div><!-- close content main div --><\/div><\/div><div id='av_section_1' class='avia-section main_color avia-section-large avia-no-border-styling avia-full-stretch av-section-color-overlay-active avia-bg-style-fixed    av-small-hide av-mini-hide container_wrap sidebar_right' style='background-repeat: no-repeat; background-image: url(https:\/\/pairlabs.ai\/wp-content\/uploads\/2020\/05\/wall005.jpg);background-attachment: fixed; background-position: bottom right;  '  data-section-bg-repeat='stretch' style='background-repeat: no-repeat; background-image: url(https:\/\/pairlabs.ai\/wp-content\/uploads\/2020\/05\/wall005.jpg);background-attachment: fixed; background-position: bottom right;  ' ><div class='av-section-color-overlay-wrap'><div class='av-section-color-overlay' style='opacity: 0.6; background-color: #ffffff; '><\/div><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4524'><div class='entry-content-wrapper clearfix'>\n<div class='flex_column_table av-equal-height-column-flextable -flextable' style='margin-top:0px; margin-bottom:-20px; '><div class=\"flex_column av_one_fourth  flex_column_table_cell av-equal-height-column av-align-top av-zero-column-padding first   \" style='border-radius:0px; '><\/div><\/div><!--close column table wrapper. Autoclose: 1 --><div class='flex_column_table av-equal-height-column-flextable -flextable' style='margin-top:0px; margin-bottom:-20px; '><div class='av-flex-placeholder'><\/div><div class=\"flex_column av_one_half  flex_column_table_cell av-equal-height-column av-align-top av-zero-column-padding   \" style='border-radius:0px; '><section class=\"av_textblock_section \"  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='avia_textblock  '  style='font-size:20px; '  itemprop=\"text\" ><p style=\"text-align: center;\">Pervasive Artificial Intelligence Research (PAIR) Labs<\/p>\n<\/div><\/section><br \/>\n<div style='height:20px' class='hr hr-invisible   '><span class='hr-inner ' ><span class='hr-inner-style'><\/span><\/span><\/div><\/p><\/div><\/div><!--close column table wrapper. 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Autoclose: 1 --><div class='flex_column_table av-equal-height-column-flextable -flextable' ><div class='av-flex-placeholder'><\/div><div class=\"flex_column av_one_half  flex_column_table_cell av-equal-height-column av-align-top    \" style='background-color:#00a0e9; background:linear-gradient(to bottom right,#00a0e9,#25a98f); padding:10px; border-radius:0px; '><p><div style=' margin-top:-21px; margin-bottom:0px;'  class='hr hr-custom hr-center hr-icon-yes   '><span class='hr-inner   inner-border-av-border-thin' style=' width:0px;' ><span class='hr-inner-style'><\/span><\/span><span class='av-seperator-icon' style='color:#ffffff;' aria-hidden='true' data-av_icon='\ue883' data-av_iconfont='entypo-fontello'><\/span><span class='hr-inner   inner-border-av-border-thin' style=' width:0px;' ><span class='hr-inner-style'><\/span><\/span><\/div><br \/>\n<section class=\"av_textblock_section \"  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='avia_textblock  av_inherit_color '  style='font-size:30px; color:#ffffff; '  itemprop=\"text\" ><h1 style=\"text-align: center;\">Robotics and sensing technology Team<\/h1>\n<\/div><\/section><\/p><\/div><\/div><!--close column table wrapper. Autoclose: 1 --><div class='flex_column_table av-equal-height-column-flextable -flextable' ><div class='av-flex-placeholder'><\/div><div class=\"flex_column av_one_fourth  flex_column_table_cell av-equal-height-column av-align-top av-zero-column-padding   \" style='border-radius:0px; '><\/div><\/div><!--close column table wrapper. Autoclose: 1 -->\n<\/div><\/div><\/div><!-- close content main div --><\/div><\/div><\/div><div id='after_section_1' class='main_color av_default_container_wrap container_wrap sidebar_right' style=' '   style=' ' ><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4524'><div class='entry-content-wrapper clearfix'>\n<\/div><\/div><\/div><!-- close content main div --><\/div><\/div><div id='av_section_2' class='avia-section main_color avia-section-large avia-no-border-styling avia-full-stretch av-section-color-overlay-active avia-bg-style-fixed    av-desktop-hide av-medium-hide container_wrap sidebar_right' style='background-repeat: no-repeat; background-image: url(https:\/\/pairlabs.ai\/wp-content\/uploads\/2020\/05\/wall005.jpg);background-attachment: fixed; background-position: bottom right;  '  data-section-bg-repeat='stretch' style='background-repeat: no-repeat; background-image: url(https:\/\/pairlabs.ai\/wp-content\/uploads\/2020\/05\/wall005.jpg);background-attachment: fixed; background-position: bottom right;  ' ><div class='av-section-color-overlay-wrap'><div class='av-section-color-overlay' style='opacity: 0.6; background-color: #ffffff; '><\/div><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4524'><div class='entry-content-wrapper clearfix'>\n<div class='flex_column_table av-equal-height-column-flextable -flextable' style='margin-top:0px; margin-bottom:-20px; '><div class=\"flex_column av_one_fourth  flex_column_table_cell av-equal-height-column av-align-top av-zero-column-padding first   \" style='border-radius:0px; '><\/div><\/div><!--close column table wrapper. Autoclose: 1 --><div class='flex_column_table av-equal-height-column-flextable -flextable' style='margin-top:0px; margin-bottom:-20px; '><div class='av-flex-placeholder'><\/div><div class=\"flex_column av_one_half  flex_column_table_cell av-equal-height-column av-align-top av-zero-column-padding   \" style='border-radius:0px; '><section class=\"av_textblock_section \"  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='avia_textblock  '  style='font-size:20px; '  itemprop=\"text\" ><p style=\"text-align: center;\">Pervasive Artificial Intelligence Research (PAIR) Labs<\/p>\n<\/div><\/section><br \/>\n<div style='height:1px' class='hr hr-invisible   '><span class='hr-inner ' ><span class='hr-inner-style'><\/span><\/span><\/div><\/p><\/div><\/div><!--close column table wrapper. Autoclose: 1 --><div class='flex_column_table av-equal-height-column-flextable -flextable' style='margin-top:0px; margin-bottom:-20px; '><div class='av-flex-placeholder'><\/div><div class=\"flex_column av_one_fourth  flex_column_table_cell av-equal-height-column av-align-top av-zero-column-padding   \" style='border-radius:0px; '><\/div><\/div><!--close column table wrapper. Autoclose: 1 --><div class='flex_column_table av-equal-height-column-flextable -flextable' ><div class=\"flex_column av_one_fourth  flex_column_table_cell av-equal-height-column av-align-top av-zero-column-padding first   \" style='border-radius:0px; '><\/div><\/div><!--close column table wrapper. Autoclose: 1 --><div class='flex_column_table av-equal-height-column-flextable -flextable' ><div class='av-flex-placeholder'><\/div><div class=\"flex_column av_one_half  flex_column_table_cell av-equal-height-column av-align-top    \" style='background-color:#00a0e9; background:linear-gradient(to bottom right,#00a0e9,#25a98f); padding:10px; border-radius:0px; '><p><div style=' margin-top:-21px; margin-bottom:0px;'  class='hr hr-custom hr-center hr-icon-yes   '><span class='hr-inner   inner-border-av-border-thin' style=' width:0px;' ><span class='hr-inner-style'><\/span><\/span><span class='av-seperator-icon' style='color:#ffffff;' aria-hidden='true' data-av_icon='\ue883' data-av_iconfont='entypo-fontello'><\/span><span class='hr-inner   inner-border-av-border-thin' style=' width:0px;' ><span class='hr-inner-style'><\/span><\/span><\/div><br \/>\n<section class=\"av_textblock_section \"  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='avia_textblock  av_inherit_color '  style='font-size:30px; color:#ffffff; '  itemprop=\"text\" ><h2 style=\"text-align: center;\">Robotics and sensing technology Team<\/h2>\n<\/div><\/section><\/p><\/div><\/div><!--close column table wrapper. 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Autoclose: 1 -->\n<\/div><\/div><\/div><!-- close content main div --><\/div><\/div><\/div><div id='after_section_2' class='main_color av_default_container_wrap container_wrap sidebar_right' style=' '   style=' ' ><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4524'><div class='entry-content-wrapper clearfix'>\n<\/div><\/div><\/div><!-- close content main div --><\/div><\/div><div id='av_section_3' class='avia-section socket_color avia-section-default avia-no-border-styling avia-bg-style-scroll    av-arrow-down-section container_wrap sidebar_right' style=' '   style=' ' ><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4524'><div class='entry-content-wrapper clearfix'>\n<div style='padding-bottom:0px; margin:0 0 0 0; font-size:30px;' class='av-special-heading av-special-heading-h3  blockquote modern-quote modern-centered   av-inherit-size '><h3 class='av-special-heading-tag '  itemprop=\"headline\"  >Development of Theory and Systems of Robot Learning from Human Demonstration (LfD)\u2014Development of Learning from Human Demonstration Robot<\/h3><div class='special-heading-border'><div class='special-heading-inner-border' ><\/div><\/div><\/div>\n<\/div><\/div><\/div><!-- close content main div --><\/div><div class='av-extra-border-element border-extra-arrow-down'><div class='av-extra-border-outer'><div class='av-extra-border-inner'  style='background-color:#333333;' ><\/div><\/div><\/div><\/div><div id='after_section_3' class='main_color av_default_container_wrap container_wrap sidebar_right' style=' '   style=' ' ><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4524'><div class='entry-content-wrapper clearfix'>\n<\/div><\/div><\/div><!-- close content main div --><\/div><\/div><div id='av_section_4' class='avia-section main_color avia-section-default avia-no-border-styling avia-bg-style-scroll   container_wrap sidebar_right' style=' '   style=' ' ><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4524'><div class='entry-content-wrapper clearfix'>\n<div class=\"flex_column av_three_fifth  flex_column_div av-zero-column-padding first  \" style='border-radius:0px; '><section class=\"av_textblock_section \"  itemscope=\"itemscope\" itemtype=\"https:\/\/schema.org\/CreativeWork\" ><div class='avia_textblock  '   itemprop=\"text\" ><p><b>Principal Investigator:\u00a0<\/b><a href=\"https:\/\/pairlabs.ai\/en\/portfolio-item\/professor-wei-yen-wang-pi-en\/\">Professor Wei-Yen Wang<\/a><\/p>\n<p>&#8212;<\/p>\n<blockquote>\n<h5><b>Summary<\/b><\/h5>\n<\/blockquote>\n<p>In this project, we develop three kinds of robotic systems with artificial intelligence (AI). First, we design a mechanism to draw Chinese calligraphy and automatically modify the motion of the robotic arm by the feedback image information. Moreover, we propose a learning theory to train the robotic arm to draw Chinese calligraphy in our self-built virtual machine. Second, this project has presented a method to develop systematic learning for robots from human demonstrations. The proposed robotic arm system is capable of active learning and inference. Last, we design and build a two-wheel self-balancing robot with human identification and following.<\/p>\n<blockquote>\n<h5><b>Keywords<\/b><\/h5>\n<\/blockquote>\n<p>Learning from Demonstration (LFD), Deep Learning, Robotic Calligraphy System, 6-Axis Articulated Robotic Arm, Two-Wheel Self-Balancing Robot.<\/p>\n<blockquote>\n<h5><b>Innovations<\/b><\/h5>\n<\/blockquote>\n<ul>\n<li>We combine YOLOv2 and with an improved network structure to complete recognition and segmentation of Chinese calligraphy words.<\/li>\n<li>We propose a learning theory to train the robot to write in Chinese calligraphy in the simulation environment.<\/li>\n<li>We design a mechanism to draw Chinese calligraphy and automatically modify the motion of the robotic arm by the feedback image information.<\/li>\n<li>This project has presented a method to develop systematic learning for robots from human demonstrations.<\/li>\n<li>Regarding the construction of the database, we developed a novel generator. Then, we utilize a CNN-based object recognition model to distinguish between two types (i.e., user and non-user) of data.<\/li>\n<\/ul>\n<blockquote>\n<h5><b>Benefits<\/b><\/h5>\n<\/blockquote>\n<ul>\n<li>A novel robotic calligraphy system is developed and can automatically modify the motion of the robotic arm for drawing Chinese calligraphy.<\/li>\n<li>A virtual calligraphy system is also built for the robot to perform try-outs. It learns how to write in Chinese calligraphy according to our novel reward and punishment rules.<\/li>\n<li>Our robotic arm system can not only be taught by humans through demonstrations, but it can also adjust its behavior by itself.<\/li>\n<li>We apply deep learning to human recognition and the development of the follow-up system.<\/li>\n<li>In the future, we do not only focus on vision-based tasks, but also consider the other human senses, such as hearing and touch.<\/li>\n<li>This project will implement the proposed intelligent algorithms at the integrated circuits level to increase the performance and flexibility, and it can promote robots application to more other domain.<\/li>\n<\/ul>\n<\/div><\/section><\/div><div class=\"flex_column av_two_fifth  flex_column_div av-zero-column-padding   \" style='border-radius:0px; '><p><div class='avia-progress-bar-container  av-desktop-hide av-medium-hide av-small-hide av-mini-hide avia_animate_when_almost_visible   av-striped-bar av-animated-bar '><div class='avia-progress-bar theme-color-bar icon-bar-no'><div class='progressbar-title-wrap'><div class='progressbar-icon'><span class='progressbar-char' aria-hidden='true' data-av_icon='\ue856' data-av_iconfont='entypo-fontello'><\/span><\/div><div class='progressbar-title'>Type 1<\/div><\/div><div class='progress' ><div class='bar-outer'><div class='bar' style='width: 91%' data-progress='91'><\/div><\/div><\/div><\/div><div class='avia-progress-bar theme-color-bar icon-bar-no'><div class='progressbar-title-wrap'><div class='progressbar-icon'><span class='progressbar-char' aria-hidden='true' data-av_icon='\ue856' data-av_iconfont='entypo-fontello'><\/span><\/div><div class='progressbar-title'>Type 2<\/div><\/div><div class='progress' ><div class='bar-outer'><div class='bar' style='width: 86%' data-progress='86'><\/div><\/div><\/div><\/div><div class='avia-progress-bar theme-color-bar icon-bar-no'><div class='progressbar-title-wrap'><div 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Autoclose: 1 -->\n<\/div><\/div><\/div><!-- close content main div --><\/div><\/div><div id='after_section_5' class='main_color av_default_container_wrap container_wrap sidebar_right' style=' '   style=' ' ><div class='container' ><div class='template-page content  av-content-small alpha units'><div class='post-entry post-entry-type-page post-entry-4524'><div class='entry-content-wrapper clearfix'><\/p>\n","protected":false},"excerpt":{"rendered":"","protected":false},"featured_media":0,"comment_status":"closed","ping_status":"closed","template":"","tags":[],"class_list":["post-4524","portfolio","type-portfolio","status-publish","hentry","portfolio_entries--en"],"_links":{"self":[{"href":"https:\/\/pairlabs.ai\/en\/wp-json\/wp\/v2\/portfolio\/4524","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/pairlabs.ai\/en\/wp-json\/wp\/v2\/portfolio"}],"about":[{"href":"https:\/\/pairlabs.ai\/en\/wp-json\/wp\/v2\/types\/portfolio"}],"replies":[{"embeddable":true,"href":"https:\/\/pairlabs.ai\/en\/wp-json\/wp\/v2\/comments?post=4524"}],"wp:attachment":[{"href":"https:\/\/pairlabs.ai\/en\/wp-json\/wp\/v2\/media?parent=4524"}],"wp:term":[{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/pairlabs.ai\/en\/wp-json\/wp\/v2\/tags?post=4524"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}