Discovering optimal imitation strategies

  title={Discovering optimal imitation strategies},
  author={Aude Billard and Yann Epars and Sylvain Calinon and Stefan Schaal and Gordon Cheng},
  journal={Robotics and Autonomous Systems},
This paper develops a general policy for learning the relevant features of an imitation task. We restrict our study to imitation of manipulative tasks or gestures. The imitation process is modeled as a hierarchical optimization system, which minimizes the discrepancy between two multi-dimensional datasets. To classify across manipulation strategies, we apply a probabilistic analysis to data in Cartesian and joint spaces. We determine a general metric that optimizes the policy of task… CONTINUE READING
Highly Influential
This paper has highly influenced 12 other papers. REVIEW HIGHLY INFLUENTIAL CITATIONS
Highly Cited
This paper has 243 citations. REVIEW CITATIONS
133 Citations
17 References
Similar Papers


Publications citing this paper.
Showing 1-10 of 133 extracted citations

244 Citations

Citations per Year
Semantic Scholar estimates that this publication has 244 citations based on the available data.

See our FAQ for additional information.


Publications referenced by this paper.
Showing 1-10 of 17 references

Imitation: a review

  • A. Billard
  • in: M.A. Arbib (Ed.), The Handbook of Brain…
  • 2002
2 Excerpts

A connectionist model for on-line learning by imitation

  • A. Billard, S. Schaal
  • in: Proceedings of the IEEE/RSJ International…
  • 2001
1 Excerpt

The sl simulation and real-time control software package

  • S. Schaal
  • Technical Report Computer Science Tech Report…
  • 2001
2 Excerpts

Acquiring robust

  • M. Skubic, R. A. Volz
  • force-based assembly skills from human…
  • 2000
1 Excerpt

Similar Papers

Loading similar papers…