Developing Learning from Demonstration Techniques for Individuals with Physical Disabilities

Learning from demonstration research often assumes that the demonstrator can quickly give feedback or demonstrations. Individuals with severe motor disabilities are often slow and prone to human errors in demonstrations while teaching. Our work develops tools to allow persons with severe motor disabilities, who stand to benefit most from assistive robots, to train these systems. To accommodate slower feedback, we will develop a movie-reel style learning from demonstration interface. To handle human error, we will use dimensionality reduction to develop new reinforcement learning techniques.