Discovering optimal imitation strategies

@article{Billard2004DiscoveringOI,
  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},
  year={2004},
  volume={47},
  pages={69-77}
}
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
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References

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