A syntactic approach to robot imitation learning using probabilistic activity grammars

@article{Lee2013ASA,
  title={A syntactic approach to robot imitation learning using probabilistic activity grammars},
  author={Kyuhwa Lee and Yanyu Su and Tae-Kyun Kim and Yiannis Demiris},
  journal={Robotics and Autonomous Systems},
  year={2013},
  volume={61},
  pages={1323-1334}
}
This paper describes a syntactic approach to imitation learning that captures important task structures in the form of probabilistic activity grammars from a reasonably small number of samples under noisy conditions. We show that these learned grammars can be recursively applied to help recognize unforeseen, more complicated tasks that share underlying structures. The grammars enforce an observation to be consistent with the previously observed behaviors which can correct unexpected, out-of… CONTINUE READING
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