Action understanding and imitation learning in a robot-human task

Authors:
Wolfram Erlhagen;Albert Mukovskiy;Estela Bicho;Giorgio Panin;Csaba Kiss;Alois Knoll;Hein van Schie;Harold Bekkering
Affiliations:
Dept. Mathematics for Science and Technology, University of Minho, Guimaraes, Portugal;Dept. Mathematics for Science and Technology, University of Minho, Guimaraes, Portugal;Dept. Industrial Electronics, University of Minho, Guimaraes, Portugal;Informatics, Chair for Robotics and Embedded Systems, Technical University Munich, Garching, Germany;Informatics, Chair for Robotics and Embedded Systems, Technical University Munich, Garching, Germany;Informatics, Chair for Robotics and Embedded Systems, Technical University Munich, Garching, Germany;Nijmegen Institute for Cognition and Information, Radboud University Nijmegen, Nijmegen, The Netherlands;Nijmegen Institute for Cognition and Information, Radboud University Nijmegen, Nijmegen, The Netherlands
Venue:
ICANN'05 Proceedings of the 15th international conference on Artificial Neural Networks: biological Inspirations - Volume Part I
Year:
2005

Citing 2
Cited 1

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Imitation in animals and artifacts
Imitation with ALICE: learning to imitate corresponding actions across dissimilar embodiments

IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans

2006 Special issue: Goals and means in action observation: A computational approach

Neural Networks - 2006 Special issue: The brain mechanisms of imitation learning

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Abstract

We report results of an interdisciplinary project which aims at endowing a real robot system with the capacity for learning by goal-directed imitation. The control architecture is biologically inspired as it reflects recent experimental findings in action observation/execution studies. We test its functionality in variations of an imitation paradigm in which the artefact has to reproduce the observed or inferred end state of a grasping-placing sequence displayed by a human model.