Automatic design is a promising approach to generating control software for robot swarms. So far, automatic design has relied on mission-specific objective functions to specify the desired collective behavior. In this paper, we explore the possibility to specify the desired collective behavior via demonstrations. We develop Demo-Cho, an automatic design method that combines inverse reinforcement learning with automatic modular design of control software for robot swarms. We show that, only on the basis of demonstrations and without the need to be provided with an explicit objective function, Demo-Cho successfully generated control software to perform four missions. We present results obtained in simulation and with physical robots.

翻译：自动设计是生成机器人群控制软件的一个很有希望的方法。 到目前为止,自动设计依靠特定任务的目标功能来具体指定所希望的集体行为。 在本文中,我们探索了通过演示来具体指定所希望的集体行为的可能性。 我们开发了Demo-Cho, 这是一种自动设计方法,将反强化学习与机器人群控制软件的自动模块设计结合起来。 我们显示, Demo-Cho 成功生成了控制软件,以完成四项任务。 我们展示了模拟和物理机器人的结果。