Acquisition of viewpoint representation in imitative learning from own sensory-motor experiences

Ryoichi Nakajo, Shingo Murata, Hiroaki Arie, Tetsuya Ogata

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

This paper introduces an imitative model that enables a robot to acquire viewpoints of the self and others from its own sensory-motor experiences. This is important for recognizing and imitating actions generated from various directions. Existing methods require coordinate transformations input by human designers or complex learning modules to acquire a viewpoint. In the proposed model, several neurons dedicated to generated actions and viewpoints of the self and others are added to a dynamic nueral network model reffered as continuous time recurrent neural network (CTRNN). The training data are labeled with types of actions and viewpoints, and are linked to each internal state. We implemented this model in a robot and trained the model to perform actions of object manipulation. Representations of behavior and viewpoint were formed in the internal states of the CTRNN. In addition, we analyzed the initial values of the internal states that represent the viewpoint information. We confirmed the distinction of the observational perspective of other's actions self-organized in the space of the initial values. Combining the initial values of the internal states that describe the behavior and the viewpoint, the system can generate unlearned data.

Original languageEnglish
Title of host publication5th Joint International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages326-331
Number of pages6
ISBN (Electronic)9781467393201
DOIs
Publication statusPublished - 2015 Dec 2
Externally publishedYes
Event5th Joint International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2015 - Providence, United States
Duration: 2015 Aug 132015 Aug 16

Publication series

Name5th Joint International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2015

Conference

Conference5th Joint International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2015
CountryUnited States
CityProvidence
Period15/8/1315/8/16

ASJC Scopus subject areas

  • Artificial Intelligence

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    Nakajo, R., Murata, S., Arie, H., & Ogata, T. (2015). Acquisition of viewpoint representation in imitative learning from own sensory-motor experiences. In 5th Joint International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2015 (pp. 326-331). [7346166] (5th Joint International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/DEVLRN.2015.7346166