Beyond Success: Quantifying Demonstration Quality in Learning from Demonstration

Abstract

Learning from Demonstration (LfD) empowers novice users to teach robots daily life tasks without writing sophisticated code, thereby promoting the democratization of robotics. However, novice users often provide sub-optimal demonstrations, which can potentially impact the robot's ability to efficiently learn and execute the tasks. Prior research has assessed the quality of demonstrations by evaluating the robot's task performance; however, the approach remains insufficient to qualify individual demonstrations, leaving the reason for classifying demonstrations as high- or low-quality unknown. Therefore, this simulation-based study aims to quantify the quality of individual demonstration at ea..