Automated Robot Skill Learning from Demonstration for Various Robot Systems

  • Lisa GutzeitEmail author
  • Alexander Fabisch
  • Christoph Petzoldt
  • Hendrik Wiese
  • Frank Kirchner
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11793)


Transferring human movements to robotic systems is of high interest to equip the systems with new behaviors without expert knowledge. Typically, skills are often only learned for a very specific setup and a certain robot. We propose a modular framework to learn skills that is applicable on different robotic systems without adaptations. Our work builds on the recently introduced BesMan Learning Platform, which comprises the full workflow to transfer human demonstrations to a system, including automatized behavior segmentation, imitation learning, reinforcement learning for motion refinement, and methods to generalize to related tasks. For this paper, we extend this approach in order that different skills can be imitated by various systems in an automated fashion with a minimal amount of configuration, e.g., definition of the target system and environment. For this, we focus on the imitation of the demonstrated movements and show their transferability without movement refinement. We demonstrate the generality of the approach on a large dataset, consisting of about 700 throwing demonstrations. Nearly all of these human demonstrations are successfully transferred to four different robot target systems, namely Universal Robot’s UR5 and UR10, KUKA LBR iiwa, and DFKI’s robot COMPI. An analysis of the quality of the imitated movement on the real UR5 robot shows that useful throws can be executed on the system which can be used as starting points for further movement refinement.


Behavior learning Learning from demonstration Behavior segmentation Imitation learning Transfer learning Manipulation Robotics 



This work was supported through grants from the German Federal Ministry for Economic Affairs and Energy (BMWi, No 50RA1703, No 50RA1701), one grant from the European Union’s Horizon 2020 research and innovation program (No H2020-FOF 2016 723853), and part of the work was done in a collaboration with Intel Labs China. We would like to thank Intel Corp. for financial support.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Lisa Gutzeit
    • 1
    Email author
  • Alexander Fabisch
    • 2
  • Christoph Petzoldt
    • 1
    • 3
  • Hendrik Wiese
    • 2
  • Frank Kirchner
    • 1
    • 2
  1. 1.Robotics Research GroupUniversity of BremenBremenGermany
  2. 2.German Research Center for Artificial Intelligence (DFKI GmbH), Robotics Innovation CenterBremenGermany
  3. 3.BIBA - Bremer Institut für Produktion und Logistik GmbH at the University of BremenBremenGermany

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