Calinon, S.Billard, A.2007-04-122007-04-122007-04-12200610.1109/ROMAN.2006.314458https://infoscience.epfl.ch/handle/20.500.14299/4630In a Robot Programming by Demonstration framework, several demonstrations of a task are required to generalize and reproduce the task under different circumstances. To teach a task to the robot, explicit pointers are required to signal the start/end of a demonstration and to switch between the learning/reproduction phases. Coordination of the learning system can be achieved by adding social cues to the interaction process. Here, we propose to use an imitation game to teach a humanoid robot to recognize communicative gestures, which then serve as social signals in a pointing-at-objects scenario. The system is based on Hidden Markov Models (HMMs) and use motion sensors to track the user's gestures.Robot Programming by Demonstration (RbD)Learning by ImitationHuman-Robot Interaction (HRI)Gaussian Mixture Model (GMM)text::conference output::conference proceedings::conference paper