Towards a real-time Bayesian imitation system for a humanoid robot

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 2847-2852

  Shon, Aaron P ^a   Storz, Joshua J ^a   Rao, Rajesh P N ^a  

^a University of Washington   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

BAYESIAN NETWORKS; LEARNING SYSTEMS; REAL TIME CONTROL; SOFTWARE PROTOTYPING;

BAYESIAN INFERENCE; HUMANOID ROBOTS; IMITATION LEARNING; PROGRAMMING ROBOTS;

ANTHROPOMORPHIC ROBOTS;

EID: 36349018801     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.363903     Document Type: Conference Paper

References (19)

1. A. Billard, S. Calinon, and F. Guenter, "Discriminative and adaptive imitation in uni-manual and bi-manual tasks," Robotics and Autonomous Systems, vol. 54, no. 5, 2006.
2. S. Calinon and A. Billard, "Recognition and reproduction of gestures using a probabilistic framework combining PCA, ICA and HMM," in Proceedings of the International Conference on Machine Learning (ICML), 2005.
3. S. Calinon, F. Guenter, and A. Billard, "On learning, representing and generalizing a task in a humanoid robot," IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics, vol. 36, no. 5.
4. G. Cheng, A. Nagakubo, and Y. Kuniyoshi, "Continuous humanoid interaction: An integrated perspective-gaining adaptivity, redundancy, flexibility-in one," in Proc. First IEEE-RAS International Conference on Humanoid Robots, 2000.
5. A. Dearden and Y. Demiris, "Learning forward models for robotics," in Proceedings of IJCAI, 2005, pp. 1440-1445.
6. P. Fitzpatrick and G. Metta, "Towards manipulation-driven vision," in Proc. IEEE/RSJ International. Conference on Intelligent Robots and Systems (IROS), 2002.
7. R. J. Herrnstein, "Relative and absolute strength of responses as a function of frequency of reinforcement," Journal of Experimental Analysis of Behavior, vol. 4, pp. 267-272, 1961.
8. T. Inainura, N. Kojo, T. Sonoda, K. Sakamoto, K. Okada, and M. Inaba, "Intent imitation using wearable motion capturing system with on-line teaching of task attention," in Proc. IEEE Humanoids, 2005.
9. M. Ito and J. Tani, "On-line imitative interaction with a humanoid robot using a dynamic neural network model of a mirror system," Adaptive Behavior, vol. 12, no. 2, pp. 93-115, 2004.
10. M. I. Jordan, and D. E. Rumelhart, "Forward models: Supervised learning with a distal teacher," Cognitive Science, vol. 16, pp. 307-354, 1992.
11. J. R. Krebs and A. Kacelnik, "Decision making," in Behavioural Ecology (3rd edition), J. R. Krebs and N. B. Davies, Eds. Blackwel Scientific Publishers, 1991, pp. 105-137.
12. L. R. Rabiner, "A tutorial on Hidden Markov Models and selected applications in speech recognition," Proc. IEEE, vol. 77, no. 2, pp. 257-286, 1989.
13. R. P. N. Rao, A. P. Shon, and A. N. Meltzoff, "A Bayesian model of imitation in infants and robots," in Imitation and Social Learning in Robots, Humans, and Animals: Behavioural, Social and Communicative Dimensions, K. Dautenhahn and C. Nehaniv, Eds. Cambridge Univ. Press, (forthcoming).
14. M. Riley, A. Ude, K. Wade, and C. G. Atkeson, "Enabling real-time full-body imitation: A natural way of transferring human movement to humanoids," in IEEE Conference on Robotics and Automation, 2003.
15. A. P. Shon, D. B. Grimes, C. L. Baker, and R. P. N. Rao, "A probabilistic framework for model-based imitation learning," in Proc. Ann. Mtg. Cognitive Science Society, 2004.
16. A. P. Shon, K. Grochow, A. Hertzmann, and R. P. N. Rao, "Learning shared latent structure for image synthesis and robotic imitation," in Advances in NIPS 18, 2006.
17. C. Thurau, T. Paczian, and C. Bauckhage, "Is Bayesian imitation learning the route to believable gamebots?" in Proc. GAME-ON North America, 2005, pp. 3-9.
18. D. Verma and R. P. N. Rao, "Goal-based imitation as probabilistic inference over graphical models," in Advances in NIPS 18, 2006.
19. C. K. I. Williams and C. Rasmussen, "Gaussian processes for regression," in Advances in NIPS, D. Touretzky and M. Hasselmo, Eds., vol. 8, 1996.