Learning responsive robot behavior by imitation

Heni Ben Amor, David Vogt, Marco Ewerton, Erik Berger, Bernhard Jung, Jan Peters

Research output: Chapter in Book/Report/Conference proceedingConference contribution

22 Scopus citations

Abstract

In this paper we present a new approach for learning responsive robot behavior by imitation of human interaction partners. Extending previous work on robot imitation learning, that has so far mostly concentrated on learning from demonstrations by a single actor, we simultaneously record the movements of two humans engaged in on-going interaction tasks and learn compact models of the interaction. Extracted interaction models can thereafter be used by a robot to engage in a similar interaction with a human partner. We present two algorithms for deriving interaction models from motion capture data as well as experimental results on a humanoid robot.

Original languageEnglish (US)
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages3257-3264
Number of pages8
DOIs
StatePublished - Dec 1 2013
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: Nov 3 2013Nov 8 2013

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period11/3/1311/8/13

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Ben Amor, H., Vogt, D., Ewerton, M., Berger, E., Jung, B., & Peters, J. (2013). Learning responsive robot behavior by imitation. In IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3257-3264). [6696819] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2013.6696819