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ICRA
2007
IEEE

Towards a Real-Time Bayesian Imitation System for a Humanoid Robot

10 years 4 months ago
Towards a Real-Time Bayesian Imitation System for a Humanoid Robot
Abstract— Imitation learning, or programming by demonstration (PbD), holds the promise of allowing robots to acquire skills from humans with domain-specific knowledge, who nonetheless are inexperienced at programming robots. We have prototyped a real-time, closed-loop system for teaching a humanoid robot to interact with objects in its environment. The system uses nonparametric Bayesian inference to determine an optimal action given a configuration of objects in the world and a desired future configuration. We describe our prototype implementation, show imitation of simple motor acts on a humanoid robot, and discuss extensions to the system.
Aaron P. Shon, Joshua J. Storz, Rajesh P. N. Rao
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Aaron P. Shon, Joshua J. Storz, Rajesh P. N. Rao
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