• Publications
  • Influence
On Learning, Representing, and Generalizing a Task in a Humanoid Robot
We present a programming-by-demonstration framework for generically extracting the relevant features of a given task and for addressing the problem of generalizing the acquired knowledge to differentExpand
  • 936
  • 80
  • Open Access
Robot Programming by Demonstration
Also referred to as learning by imitation, tutelage, or apprenticeship learning, Programming by Demonstration (PbD) develops methods by which new skills can be transmitted to a robot. This bookExpand
  • 913
  • 39
Incremental learning of gestures by imitation in a humanoid robot
  • S. Calinon, A. Billard
  • Computer Science
  • 2nd ACM/IEEE International Conference on Human…
  • 10 March 2007
We present an approach to teach incrementally human gestures to a humanoid robot. By using active teaching methods that puts the human teacher “in the loop” of the robot's learning, we show that theExpand
  • 331
  • 26
  • Open Access
A tutorial on task-parameterized movement learning and retrieval
  • S. Calinon
  • Computer Science
  • Intell. Serv. Robotics
  • 2016
Task-parameterized models of movements aim at automatically adapting movements to new situations encountered by a robot. The task parameters can, for example, take the form of positions of objects inExpand
  • 161
  • 23
  • Open Access
Learning and Reproduction of Gestures by Imitation
We presented and evaluated an approach based on HMM, GMR, and dynamical systems to allow robots to acquire new skills by imitation. Using HMM allowed us to get rid of the explicit time dependencyExpand
  • 346
  • 22
Discriminative and adaptive imitation in uni-manual and bi-manual tasks
This paper addresses the problems of what to imitate and how to imitate in simple uni- and bi-manual manipulatory tasks. To solve the what to imitate issue, we use a probabilistic method, based onExpand
  • 208
  • 15
Reinforcement learning for imitating constrained reaching movements
The goal of developing algorithms for programming robots by demonstration is to create an easy way of programming robots such that it can be accomplished by anyone. When a demonstrator teaches a taskExpand
  • 151
  • 14
  • Open Access
Learning-based control strategy for safe human-robot interaction exploiting task and robot redundancies
We propose a control strategy for a robotic manipulator operating in an unstructured environment while interacting with a human operator. The proposed system takes into account the importantExpand
  • 120
  • 13
  • Open Access
Statistical dynamical systems for skills acquisition in humanoids
Learning by imitation in humanoids is challenging due to the unpredictable environments these robots have to face during reproduction. Two sets of tools are relevant for this purpose: 1)Expand
  • 133
  • 12
  • Open Access
Stochastic gesture production and recognition model for a humanoid robot
  • S. Calinon, A. Billard
  • Computer Science
  • IEEE/RSJ International Conference on Intelligent…
  • 28 September 2004
Robot programming by demonstration (PbD) aims at developing adaptive and robust controllers to enable the robot to learn new skills by observing and imitating a human demonstration. While the vastExpand
  • 119
  • 10
  • Open Access