Learning object-manipulation verbs for human-robot communication

Komei Sugiura, Naoto Iwahashi

研究成果: Conference contribution

14 被引用数 (Scopus)

抄録

This paper proposes a machine learning method for mapping object-manipulation verbs with sensory inputs and motor outputs that are grounded in the real world. The method learns motion concepts demonstrated by a user and generates a sequence of motions, using reference-point-dependent probability models. Four components, needed to learn objectmanipulation verbs, are estimated from camera images; (1) a trajector and landmark, which are the objects of transitive verbs; (2) a reference point; (3) an intrinsic coordinate system; and (4) parameters of the motion's probabilistic model. The motion concepts are learned using hidden Markov models (HMMs). In the motion generation phase, our method then combines HMMs to generate trajectories to accomplish goal-oriented tasks. Results from simulation experiments in which our method generates motion by combining learned motion primitives are shown.

本文言語English
ホスト出版物のタイトルWorkshop on Multimodal Interfaces in Semantic Interaction, WMISI 2007, Proceedings - 9th International Conference on Multimodal Interfaces, ICMI 2007, Post-Conference Workshop
ページ32-38
ページ数7
DOI
出版ステータスPublished - 2007 12 1
外部発表はい
イベントWorkshop on Multimodal Interfaces in Semantic Interaction, WMISI 2007 - 9th International Conference on Multimodal Interfaces, ICMI 2007 - Nagoya, Japan
継続期間: 2007 11 152007 11 15

出版物シリーズ

名前Workshop on Multimodal Interfaces in Semantic Interaction, WMISI 2007, Proceedings - 9th International Conference on Multimodal Interfaces, ICMI 2007, Post-Conference Workshop

Conference

ConferenceWorkshop on Multimodal Interfaces in Semantic Interaction, WMISI 2007 - 9th International Conference on Multimodal Interfaces, ICMI 2007
国/地域Japan
CityNagoya
Period07/11/1507/11/15

ASJC Scopus subject areas

  • 人間とコンピュータの相互作用
  • ソフトウェア

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