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Demo Episode Judge

Run the Demo Episode Judge MicroSim Fullscreen

You can include this MicroSim on your website using the following iframe:

<iframe src="https://dmccreary.github.io/robot-arm/sims/demo-episode-judge/main.html"
        height="517px" width="100%" scrolling="no"></iframe>

Description

Read the five rules for recording good demonstration episodes for imitation learning. Then judge eight described episodes: is each one worth keeping, or must it be recorded again? Used in Chapter 14.

The five rules come from the data-collection guidance in the chapter:

  1. Keep the cameras fixed.
  2. Keep the object visible in the camera.
  3. Grasp the same way every time.
  4. Use a few planned locations, with about 10 episodes for each, and add more variation only after the policy is reliable.
  5. Cancel and re-record an episode that goes wrong.

Lesson Plan

Grade level: Middle school and up (age 12+). Time: 10 to 15 minutes.

  1. Explore. Read the five rules. Use the menu to read the reason for each one. Which rule would be the easiest to break by accident?
  2. Eight episodes. Choose Eight episodes in the menu. Read each description and press Keep or Re-record. Pressing a button commits your verdict. You get one attempt at each, and 7 of 8 is mastery.
  3. Justify it. After each answer, say which rule decided it before you read the feedback.
  4. Think about it. A policy copies what it is shown. Why can it not simply average out one bad episode among fifty good ones?

An episode that breaks any of the five rules should be recorded again. One that breaks none is worth keeping.

Specification

The learning objective, evidence of mastery and content for this MicroSim are specified in Chapter 14: Cameras, Perception, and Learning from Demonstration.