Learning responsive robot behavior by imitation

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

doi:10.1109/IROS.2013.6696819

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 proceeding › Conference contribution

35 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 language	English (US)
Title of host publication	IROS 2013
Subtitle of host publication	New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages	3257-3264
Number of pages	8
DOIs	https://doi.org/10.1109/IROS.2013.6696819
State	Published - 2013
Externally published	Yes
Event	2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan Duration: Nov 3 2013 → Nov 8 2013

Publication series

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

Other

Other	2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Country/Territory	Japan
City	Tokyo
Period	11/3/13 → 11/8/13

ASJC Scopus subject areas

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

Access to Document

10.1109/IROS.2013.6696819

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). Article 6696819 (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2013.6696819

Learning responsive robot behavior by imitation. / Ben Amor, Heni; Vogt, David; Ewerton, Marco et al.
IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2013. p. 3257-3264 6696819 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 6696819, IEEE International Conference on Intelligent Robots and Systems, pp. 3257-3264, 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013, Tokyo, Japan, 11/3/13. https://doi.org/10.1109/IROS.2013.6696819

@inproceedings{2fafa959a18f47b0ac37b469dfeaa55b,

title = "Learning responsive robot behavior by imitation",

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.",

author = "{Ben Amor}, Heni and David Vogt and Marco Ewerton and Erik Berger and Bernhard Jung and Jan Peters",

year = "2013",

doi = "10.1109/IROS.2013.6696819",

language = "English (US)",

isbn = "9781467363587",

series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "3257--3264",

booktitle = "IROS 2013",

note = "2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 ; Conference date: 03-11-2013 Through 08-11-2013",

}

TY - GEN

T1 - Learning responsive robot behavior by imitation

AU - Ben Amor, Heni

AU - Vogt, David

AU - Ewerton, Marco

AU - Berger, Erik

AU - Jung, Bernhard

AU - Peters, Jan

PY - 2013

Y1 - 2013

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=84893734170&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84893734170&partnerID=8YFLogxK

U2 - 10.1109/IROS.2013.6696819

DO - 10.1109/IROS.2013.6696819

M3 - Conference contribution

AN - SCOPUS:84893734170

SN - 9781467363587

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 3257

EP - 3264

BT - IROS 2013

T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013

Y2 - 3 November 2013 through 8 November 2013

ER -

Learning responsive robot behavior by imitation

Abstract

Publication series

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this