TY  - GEN
ID  - cogprints4148
UR  - http://cogprints.org/4148/
A1  - Weber, Cornelius
A1  - Elshaw, Mark
A1  - Zochios, Alex
A1  - Wermter, Stefan
Y1  - 2004///
N2  - In this paper we propose an approach to robot learning by imitation that uses the multimodal inputs of language, vision and motor. In our approach a student robot learns from a teacher robot how to perform three separate behaviours based on these inputs. We considered two neural architectures for performing this robot learning. First, a one-step hierarchial architecture trained with two different learning approaches either based on Kohonen's self-organising map or based on the Helmholtz machine turns out to be inefficient or not capable of performing differentiated behavior. In response we produced a hierarchial architecture that combines both learning approaches to overcome these problems. In doing so the proposed robot system models specific aspects of learning using concepts of the mirror neuron system (Rizzolatti and Arbib, 1998) with regards to demonstration learning.
PB  - Lund University Cognitive Studies
KW  - multimodal imitation learning
KW  -  hierarchial neural architecture
KW  -  mirror neuron system
KW  -  robotic simulator
KW  -  MirrorBot
TI  - A Multimodal Hierarchial Approach to Robot Learning by Imitation
SP  - 131
AV  - public
EP  - 134
ER  -

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