Gesture-based programming: A preliminary demonstration

This paper explores Gesture-Based Programming as a paradigm for programming robotic agents. Gesture-Based Programming is a form of programming by human demonstration that focuses the development of robotic systems on task experts rather than programming experts. The technique relies on the existence of previously acquired robotic skills (which we call "sensorimotor primitives") which we hope to develop to into the robotic equivalent of skills acquired by humans through everyday experiences. The interpretation of the human's demonstration and subsequent matching to robotic primitives is a qualitative problem that we approach with a community of skilled agents. A simple manipulative task and a variant of that task are programmed to demonstrate the system.