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EPFL > infoscience > Goal-Directed Imitation in a Humanoid Robot
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Calinon, S. ; Guenter, F. ; Billard, A. Presented at: International Conference on Robotics and Automation, Barcelona, Spain, April 2005. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2005, p. 299--304 Date: 2005 Our work aims at developing a robust discriminant controller for robot programming by demonstration. It addresses two core issues of imitation learning, namely "what to imitate" and "how to imitate". This paper presents a method by which a robot extracts the goals of a demonstrated task and determines the imitation strategy that satisfies best these goals. The method is validated in a humanoid platform, taking inspiration of an influential experiment from developmental psychology. Keyword(s): imitation learning, programming by demonstration, goal-directed imitation, humanoid robot, Learning by imitation - Robotics Reference: LSA3-CONF-2005-001 |
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Record created on 2005-11-16, modified on 2010-03-13 |
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