Towards goal based architecture design for learning high-level representation of behaviors from demonstration

Abstract

This paper gives a brief overview of challenges in designing cognitive architectures for Learning from Demonstration. By investigating features and functionality of some related architectures, we propose a modular architecture particularly suited for sequential learning high-level representations of behaviors. We head towards designing and implementing goal based imitation learning that not only allows the robot to learn necessary conditions for executing particular behaviors, but also to understand the intents of the tutor and reproduce the same behaviors accordingly.