Combined kinesthetic and simulated interface for teaching robot motion models

The success of a Learning from Demonstration system depends on the quality of the demonstrated data. Kinesthetic demonstrations are often assumed to be the best method of providing demonstrations for manipulation tasks, however, there is little research to support this. In this work, we explore the use of a simulated environment as an alternative to and in combination with kinesthetic demonstrations when using an autonomous dynamical system to encode motion. We present the results of a user study comparing three demonstrations interfaces for a manipulation task on a KUKA LWR robot.