Temporal emphasis for goal extraction in task demonstration to a humanoid robot by naive users

Konstantinos Theofilis, Katrin Solveig Lohan, Chrystopher L. Nehaniv, Kerstin Dautenhahn, Britta Werde

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

2 Citations (Scopus)

Abstract

Goal extraction in learning by demonstration is a complex problem. A novel approach, inspired by developmental psychology and focused on use in experiments with naive users, is presented in this paper. Participants were presenting a simple task, how to stack three boxes, to the humanoid robot iCub. The stationary states of the task - 1 box, 2 boxes stacked, 3 boxes stacked - were defined and the time span of each state was measured. Analysis of the results showed that there is a significant result that users tend to keep the boxes stationary longer upon completion of the end goal than upon completion of the sub-goals. A simple and straightforward learning algorithm was then used on the demonstration data, using only the time spans of the stationary states. The learning algorithm successfully detected the end goal. These temporal differences, functioning as emphasis, could be used as a complementary mechanism for goal extraction in imitation learning. Furthermore, it is suggested that since a simple, straightforward learning algorithm can use these pauses to recognise the goal state, humans may also be able to use this pause as a complementary mechanism for recognising the goal state of a task.
Original languageEnglish
Title of host publication2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL)
PublisherIEEE
ISBN (Electronic)9781479910366
DOIs
Publication statusPublished - 4 Nov 2013
Event3rd IEEE Joint International Conference on Development and Learning and Epigenetic Robotics 2013 - Osaka, Japan
Duration: 18 Aug 201322 Aug 2013

Publication series

NameIEEE Joint International Conference on Development and Learning and Epigenetic Robotics
ISSN (Electronic)2161-9476

Conference

Conference3rd IEEE Joint International Conference on Development and Learning and Epigenetic Robotics 2013
Abbreviated titleICDL 2013
CountryJapan
CityOsaka
Period18/08/1322/08/13

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Software

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