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TitleGoal-directed Imitation for Robots: a bio-inspired approach to action understanding and skill learning
Author(s)Erlhagen, Wolfram
Mukovskiy, Albert
Bicho, E.
Panin, Giorgio
Kiss, Casba
Knoll, Alois
Van Schie, Hein
Bekkering, Harold
KeywordsImitation learning
Goal inference
Action understanding
action sequence
dynamic field
mirror neurons
Issue dateMay-2006
JournalRobotics and autonomous systems
Citation"Robotics and autonomous systems". ISSN 0921-8890. 54:5 (May 2006) 353-360.
Abstract(s)In this paper we present a robot control architecture for learning by imitation which takes inspiration from recent discoveries in action observation/execution experiments with humans and other primates. The architecture implements two basic processing principles: 1) imitation is primarily directed toward reproducing the goal/end state of an observed action sequence, and 2) the required capacity to understand the motor intention of another agent is based on motor simulation. The control architecture is validated in a robot system imitating in a goal-directed manner a grasping and placing sequence displayed by a human model. During imitation, skill transfer occurs by learning and representing ppropriate goal-directed sequences of motor primitives. After having established computational links between the representations of goal and means, further knowledge about the meaning of objects is transferred (“where to place specific objects”). The robustness of the goal-directed organization of the controller is tested in the presence of incomplete visual information and changes in environmental constraints.
AccessOpen access
Appears in Collections:CAlg - Artigos em revistas internacionais / Papers in international journals
DEI - Artigos em revistas internacionais
Offmath - Artigos (Papers)

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