Task-level imitation learning using variance-based movement optimization

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2009, Pages 1177-1184

  Mühlig, Manuel ^a   Gienger, Michael ^b   Hellbach, Sven ^c   Steil, Jochen J ^a   Goerick, Christian ^b  

^a BIELEFELD UNIVERSITY   (Germany)

^b HONDA RESEARCH INSTITUTE EUROPE GMBH   (Germany)

^c ILMENAU UNIVERSITY OF TECHNOLOGY   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

AGRICULTURAL ROBOTS; ANTHROPOMORPHIC ROBOTS; INDUSTRIAL ROBOTS; LEARNING SYSTEMS; ROBOTICS;

GAUSSIAN MIXTURE MODEL; GENERATION ALGORITHM; HUMANOID ROBOTICS; IMITATION LEARNING; INTERACTIVE LEARNING; MOVEMENT OPTIMIZATION; OBJECT TRAJECTORIES; SOCIAL ENVIRONMENT;

SOCIAL ROBOTS;

EID: 85065730811     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2009.5152439     Document Type: Conference Paper

References (20)

1. A. Billard, S. Calinon, and F. Guenter, "Discriminative and adaptive imitation in uni-manual and bi-manual tasks," Journal of Robotics and Autonomous Systems, vol. 54, no. 5, pp. 370-384, May 2006.
2. 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, vol. 37, no. 2, pp. 286-298, Apr. 2007.
3. R. Zöllner, O. Rogalla, M. Ehrenmann, and R. Dillmann, "Mapping complex tasks to robots: Programming by demonstration in real-world environments," Advances in Human-Robot Interaction, vol. 14, pp. 119-136, 2004.
4. D. C. Bentivegna, C. G. Atkeson, and G. Cheng, "Learning tasks from observation and practice," Journal of Robotics and Autonomous Systems, vol. 47, pp. 163-169, Jun. 2004.
5. A. Chella, H. Dindo, and I. Infantino, "A cognitive framework for imitation learning," Journal of Robotics and Autonomous Systems, vol. 54, no. 5, pp. 403-408, May 2006.
6. S. Calinon, F. Guenter, and A. Billard, "On learning the statistical representation of a task and generalizing it to various contexts," in Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006, pp. 2978-2983.
7. J. B. Cole, D. B. Grimes, and R. P. N. Rao, "Learning full-body motions from monocular vision: Dynamic imitation in a humanoid robot," in Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007.
8. C. A. Acosta-Calderon and H. Hu, "Robot imitation: Body schema and body percept," Applied Bionics and Biomechanics, vol. 2, no. 3, pp. 131-148, Mar. 2005.
9. T. Asfour, F. Gyarfas, P. Azad, and R. Dillmann, "Imitation learning of dual-arm manipulation tasks in humanoid robots," in International Conference on Humanoid Robots, 2006 6th IEEE-RAS, 2006, pp. 40-47.
10. D. B. Grimes, R. Chalodhorn, and R. P. N. Rao, "Dynamic imitation in a humanoid robot through nonparametric probabilistic inference," in Proceedings of Robotics: Science and Systems (RSS'06). MIT Press, 2006.
11. T. Inamura, I. Toshima, H. Tanie, and Y. Nakamura, "Embodied symbol emergence based on mimesis theory," The International Journal of Robotics Research, vol. 23, pp. 363-377, 2004.
12. M. Toussaint, M. Gienger, and C. Goerick, "Optimization of sequential attractor-based movement for compact movement representation," in Proceedings of the IEEE-RAS/RSJ International Conference on Humanoid Robots, Dec. 2007.
13. F. Guenter, M. Hersch, S. Calinon, and A. Billard, "Reinforcement learning for imitating constrained reaching movements," Advanced Robotics, vol. 21, no. 13, pp. 1521-1544, 2007.
14. B. Bolder, M. Dunn, M. Gienger, H. Janssen, H. Sugiura, and C. Goerick, "Visually guided whole body interaction," in IEEE International Conference on Robotics and Automation (ICRA 2007), 2007.
15. M. Gienger, H. Janssen, and C. Goerick, "Exploiting task intervals for whole body robot control," in Proceedings of the International Conference on Intelligent Robots and Systems, 2006.
16. W. Ilg, G. H. Bakir, J. Mezger, and M. A. Giese, "On the representation, learning and transfer of spatio-temporal movement characteristics," International Journal of Humanoid Robotics, pp. 613-636, Dec. 2004.
17. C. A. Ratanamahatana and E. Keogh, "Everything you know about dynamic time warping is wrong," Tenth ACM SIGKDD International Conference on Knowledge Discovery and Data Mining, 2004.
18. S. Dasgupta and L. J. Schulman, "A two-round variant of em for gaussian mixtures," in UAI '00: Proceedings of the 16th Conference on Uncertainty in Artificial Intelligence, 2000, pp. 152-159.
19. G. Schwarz, "Estimating the dimension of a model," Annals of Statistics, vol. 6, no. 2, pp. 461-464, 1978.
20. M. Gienger, H. Janssen, and C. Goerick, "Task-oriented whole body motion for humanoid robots," in Proceedings of the IEEE-RAS/RSJ International Conference on Humanoid Robots, Dec. 2005.