Unsupervised learning of simultaneous motor primitives through imitation

Olivier Mangin (1) , Pierre-Yves Oudeyer (1)

1 Flowers - Flowing Epigenetic Robots and Systems

We propose to build a system able to learn motor primitives from simultaneous demonstrations of several such primitives. Our approach is based on compact local descriptors of the motor trajectory similar to those used to learn acoustic words amongst sentences or objects inside visual scenes.

Mots clés: Developmental learning; Learning by demonstration; Non-negative matrix factorization; Social learning; Task learning

Domaines: Robotique [cs.RO]; Apprentissage [cs.LG]

Olivier Mangin, Pierre-Yves Oudeyer. Unsupervised learning of simultaneous motor primitives through imitation. IEEE ICDL-EPIROB 2011, Aug 2011, Frankfurt, Germany. ⟨hal-00652346⟩