Learning from conceptual aliasing caused by direct teaching

Perceptual and action aliasing caused by the state and action space differences between the learner and the teacher (hereafter, we call these two problems conceptual aliasing) is a serious problem for direct teaching methods because the instructions given by the teacher might not be consistent with the learner´s view. This paper proposes a method that resolves conceptual aliasing by two-mode frequent instructions on the teacher´s side and self-learning mechanism on the learner´s side. The experiment with a real robot is shown and a discussion is given