Task Specification by Demonstration based on the Framework for Physical Interaction approach

We present a new method for building an abstract task representation from a single human-guided demonstration. We call it the Specification by Demonstration Approach and it is based on our Framework for Physical Interaction (FPI). Guided by a human instructor, a robot extracts a set of key task references and relates them to a visual model of the object. A physical interaction task representation is built and stored for its future use. The robot makes use of visual and force feedback both during the demonstration and in future autonomous operation. Some experiments are reported.