--- abstract: "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." altloc: - http://asip.lucs.lu.se/ftp/pub/LUCS_Studies/LUCS117/weber.pdf chapter: ~ commentary: ~ commref: ~ confdates: 'August 25-27, 2004' conference: 'Fourth International Workshop on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems' confloc: 'Genoa, Italy' contact_email: ~ creators_id: [] creators_name: - family: Weber given: Cornelius honourific: '' lineage: '' - family: Elshaw given: Mark honourific: '' lineage: '' - family: Zochios given: Alex honourific: '' lineage: '' - family: Wermter given: Stefan honourific: '' lineage: '' date: 2004 date_type: published datestamp: 2005-04-14 department: ~ dir: disk0/00/00/41/48 edit_lock_since: ~ edit_lock_until: ~ edit_lock_user: ~ editors_id: [] editors_name: - family: Berthouze given: Luc honourific: '' lineage: '' - family: Kozima given: Hideki honourific: '' lineage: '' - family: Prince given: Christopher G. honourific: '' lineage: '' - family: Sandini given: Giulio honourific: '' lineage: '' - family: Stojanov given: Georgi honourific: '' lineage: '' - family: Metta given: Giorgio honourific: '' lineage: '' - family: Balkenius given: Christian honourific: '' lineage: '' eprint_status: archive eprintid: 4148 fileinfo: /style/images/fileicons/application_pdf.png;/4148/1/weber.pdf full_text_status: public importid: ~ institution: ~ isbn: ~ ispublished: pub issn: ~ item_issues_comment: [] item_issues_count: 0 item_issues_description: [] item_issues_id: [] item_issues_reported_by: [] item_issues_resolved_by: [] item_issues_status: [] item_issues_timestamp: [] item_issues_type: [] keywords: 'multimodal imitation learning, hierarchial neural architecture, mirror neuron system, robotic simulator, MirrorBot' lastmod: 2011-03-11 08:55:52 latitude: ~ longitude: ~ metadata_visibility: show note: ~ number: ~ pagerange: 131-134 pubdom: FALSE publication: ~ publisher: Lund University Cognitive Studies refereed: TRUE referencetext: ~ relation_type: [] relation_uri: [] reportno: ~ rev_number: 12 series: ~ source: ~ status_changed: 2007-09-12 16:56:11 subjects: - comp-sci-mach-learn - comp-sci-neural-nets - comp-sci-robot succeeds: ~ suggestions: ~ sword_depositor: ~ sword_slug: ~ thesistype: ~ title: A Multimodal Hierarchial Approach to Robot Learning by Imitation type: confpaper userid: 3507 volume: 117