Confidence-Based Skill Reproduction Through Perturbation Analysis

Several methods exist for teaching robots, with one of the most prominent being Learning from Demonstration (LfD). Many LfD representations can be formulated as constrained optimization problems. We propose a novel convex formulation of the LfD problem represented as elastic maps, which models reproductions as a series of connected springs. Relying on the properties of strong duality and perturbation analysis of the constrained optimization problem, we create a confidence metric. Our method allows the demonstrated skill to be reproduced with varying confidence level yielding different levels of smoothness and flexibility. Our confidencebased method provides reproductions of the skill that perform better for a given set of constraints. By analyzing the constraints, our method can also remove unnecessary constraints. We validate our approach using several simulated and realworld experiments using a Jaco2 7DOF manipulator arm.