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Both self-learning architecture (embedded structure) and explicit/implicit teaching from other agents (environmental design issue) are necessary not only for one behavior learning but more seriously for life-time behavior learning. This paper presents a method for a robot to understand unfamiliar behavior shown by others through the collaboration between behavior acquisition and recognition of observed...
This paper addresses development of body mapping from a human demonstrator to an inverted-pendulum mobile robot for imitation. An inverted-pendulum mobile robot with torso and body links learns a dynamic kicking motion shown by a human. The robot observes the human demonstration with a camera, extracts the human region in each of images, maps the region to its own two links, estimates the link posture...
Recently, researches on multi-agent systems (MAS) which autonomous agents are able to learn cooperative behavior are actively performed. It is necessary for social agents to interact each other in order to have excellent cooperative performance in MAS. But it is difficult to give appropriate coordination at the right time, not to mention the generation of group behavior. We have aimed at the group...
Neurophysiology has revealed the existence of mirror neurons in the brain of macaque monkeys that activate when the monkey executes a goal directed behavior and also when it observes the same behavior performed by another. The concept of the mirror neurons/systems (Oztop and Kawato, 2006) [19] suggests that behavior acquisition and understanding of others’ behavior are related.We propose a method...
In order to develop skills, actions, behavior in a human symbiotic environment, a robot is going to learn something from behavior observation of predecessors or humans. Recently, robotic imitation methods based on many approaches have been proposed. We have proposed reinforcement learning based approaches for the imitation and investigated them under an assumption that the observer recognizes the...
In this paper, we introduce a method for generating a dynamic motion such that a two-wheeled inverted pendulum robot kicks a ball far away utilizing its own body dynamics while it keeps standing. Such a dynamic motion can be acquired through trial and error based on a reinforcement learning scheme. We utilize a simple policy gradient method to acquire a kicking motion which is designed by defining...
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