Calinon, S.Guenter, F.Billard, A.2005-11-162005-11-162005-11-16200510.1109/ROBOT.2005.1570135https://infoscience.epfl.ch/handle/20.500.14299/220078WOS:000235460100049Our 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.imitation learningprogramming by demonstrationgoal-directed imitationhumanoid robotLearning by imitation - Roboticstext::conference output::conference proceedings::conference paper