{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:01:07Z","timestamp":1777716067774,"version":"3.51.4"},"reference-count":33,"publisher":"SAGE Publications","issue":"12","license":[{"start":{"date-parts":[[2005,12,1]],"date-time":"2005-12-01T00:00:00Z","timestamp":1133395200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2005,12]]},"abstract":"<jats:p>Programming by demonstration (PbD) is a technique for programming robots that holds much promise in making robots more accessible to ordinary, non-technical users. However, a well-known difficulty with the method is that a human will often demonstrate the task to be programmed inconsistently or even erroneously, leading to the inclusion of what is essentially noise in the demonstration. A number of techniques exist in the literature for filtering out this type of noise; however, most focus on very low level control command details. In this paper, we propose a new, complementary direction of research. We take a \u201ctask-level\u201d view of the demonstration, and note that noise can exist at this level also. We propose a framework, based on a hybrid dynamic system modeling approach, to select the most optimal, task-level execution strategies that were demonstrated. We apply our framework to a real household task of inserting the compressible spindle of a paper towel holder into its supports. We conduct experiments to show that significant improvements in robot performance of the task can be achieved by a PbD regime that includes our method.<\/jats:p>","DOI":"10.1177\/0278364905060120","type":"journal-article","created":{"date-parts":[[2005,11,29]],"date-time":"2005-11-29T11:02:48Z","timestamp":1133262168000},"page":"1073-1085","source":"Crossref","is-referenced-by-count":13,"title":["Constructing Task-Level Assembly Strategies in Robot Programming by Demonstration"],"prefix":"10.1177","volume":"24","author":[{"given":"Jason R.","family":"Chen","sequence":"first","affiliation":[{"name":"Department of Information Engineering, Research School of Information                         Science and Engineering, The Australian National University, Canberra,                         Australia,"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2005,12,1]]},"reference":[{"key":"atypb1","unstructured":"Austin, D. 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