Baxter learning to open a valve
In this experiment, Baxter learns to open the valve using torque control from previously unseen configurations after being demonstrated a few times only. The task is encoded with the task-parametrized semi-tied hidden semi-Markov model and the movement is reproduced with a finite horizon linear quadratic tracking controller. For more details of the proposed algorithm for learning robot manipulation tasks, please read the paper: A. K. Tanwani, S. Calinon, "Learning Robot Manipulation Tasks with Task-Parametrized Semi-Tied Hidden Semi-Markov Model", IEEE Robotics and Automation Letters, 2016.
Video credit: Ajay Tanwani