Incremental learning of skills in a task-parameterized Gaussian mixture model

Journal Article (2016)


Journal of Intelligent and Robotic Systems







Doc link


Download the digital copy of the doc pdf document


Programming by demonstration techniques facilitate the programming of robots. Some of them allow the generalization of tasks through parameters, al- though they require new training when trajectories different from the ones used to estimate the model need to be added. One of the ways to re-train a robot is by incremental learning, which supplies additional information of the task and does not require teaching the whole task again. The present study proposes three tech- niques to add trajectories to a previously estimated task-parameterized Gaussian mixture model. The first technique estimates a new model by accumulating the new trajectory and the set of trajectories generated using the previous model. The second technique permits adding to the parameters of the existent model those obtained for the new trajectories. The third one updates the model parameters by running a modified version of the Expectation-Maximization algorithm, with the information of the new trajectories. The techniques were evaluated in a simulated task and a real one, and they showed better performance than that of the existent model.


cooperative systems, learning (artificial intelligence), uncertainty handling.

Scientific reference

J.G. Hoyos, F. Prieto, G. Alenyà and C. Torras. Incremental learning of skills in a task-parameterized Gaussian mixture model. Journal of Intelligent and Robotic Systems, 82(1): 81-99, 2016.