Physics

Mobile robot

Pure mathematics

Mathematics

Human–computer interaction

Optics

Imitation

Engineering

Artificial intelligence

Robot learning

Psychology

Focus (optics)

Geometry

Computer science

Point (geometry)

Field (mathematics)

Social psychology

Robot

Robotics

Learning from demonstration (LfD) has been used to help robots to implement manipulation tasks autonomously, in particular, to learn manipulation behaviors from observing the motion executed by human demonstrators. This paper reviews recent research and development in the field of LfD. The main focus is placed on how to demonstrate the example behaviors to the robot in assembly operations, and how to extract the manipulation features for robot learning and generating imitative behaviors. Diverse metrics are analyzed to evaluate the performance of robot imitation learning. Specifically, the application of LfD in robotic assembly is a focal point in this paper.

Robot Learning from Demonstration in Robotic Assembly: A Survey