Robot Learning from Demonstration on a Unified Representation

Caiming Xiong1, Nishant Shukla1, Pablo Garcia Kilroy2, Mun Wai Lee3, Song-Chun Zhu1

Center for Vision, Cognition, Learning and Art, UCLA1

SRI International2

Intelligent Automation, Inc.3



In this project, we propose a unified knowledge representation(STC-AoG) for task-oriented robot learning from multi-source such as human demonstration videos(YouTube videos), interactively written/verbal instructions etc.. In this demo page, we show some results of our STC-AoG learning and inference within two robot platforms. Robot I, provided by SRI, presents the task of folding clothes. Robot II, provided by IAI, presents the task of assembling the table.

Paper and Demo

Demo 1

Demo 2


A Unified Framework for Human-Robot Knowledge Transfer, N. Shukla, C. Xiong and S.C. Zhu.
AAAI Fall Symposium on AI for Human-Robot Interaction (AI-HRI 2015).
[ pdf ]


Please contact Caiming Xiong (caimingxiong [at]