仿人机器人的目标定向模仿

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI:10.1109/ROBOT.2005.1570135

S. Calinon, F. Guenter, A. Billard

{"title":"仿人机器人的目标定向模仿","authors":"S. Calinon, F. Guenter, A. Billard","doi":"10.1109/ROBOT.2005.1570135","DOIUrl":null,"url":null,"abstract":"Our 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.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"70 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"104","resultStr":"{\"title\":\"Goal-Directed Imitation in a Humanoid Robot\",\"authors\":\"S. Calinon, F. Guenter, A. Billard\",\"doi\":\"10.1109/ROBOT.2005.1570135\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Our 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.\",\"PeriodicalId\":350878,\"journal\":{\"name\":\"Proceedings of the 2005 IEEE International Conference on Robotics and Automation\",\"volume\":\"70 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2005-04-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"104\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 2005 IEEE International Conference on Robotics and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBOT.2005.1570135\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.2005.1570135","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 104

摘要

我们的工作旨在通过演示开发一种用于机器人编程的鲁棒判别控制器。它解决了模仿学习的两个核心问题，即“模仿什么”和“如何模仿”。本文提出了一种机器人从演示任务中提取目标并确定最能满足这些目标的模仿策略的方法。该方法从发展心理学的一个有影响力的实验中获得灵感，并在人形平台上进行了验证。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Goal-Directed Imitation in a Humanoid Robot

Our 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.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings of the 2005 IEEE International Conference on Robotics and Automation

自引率

0.00%

发文量