---
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: ~
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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