Behavioural Cloning and Robot Control

C. D'Este, M. O'Sullivan, and N. Hannah (Australia)


robotics, control, motion, behavioural cloning, imitation


Behavioural cloning is a method by which a machine learns control skills through observing what a human controller would do in a certain set of circumstances. More specifically, the machine learns to determine, given the current sensory input, the best of its actions to perform. This paper discusses a robot, situated in the real world, which very quickly learns target pursuit and obstacle avoidance behaviours using this technique. We also discuss the benefits of decision tree learning in the implementation.

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