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  Hierarchical Spatio-Temporal Morphable Models for Representation of complex movements for Imitation Learning

Ilg, W., Bakir, G., Franz, M., & Giese, M. (2003). Hierarchical Spatio-Temporal Morphable Models for Representation of complex movements for Imitation Learning. In U. Nunes, A. de Almeida, A. Bejczy, K. Kosuge, & J. Machado (Eds.), 11th International Conference on Advanced Robotics (ICAR 2003) (pp. 453-458).

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-DD3A-D Version Permalink: http://hdl.handle.net/21.11116/0000-0005-71BA-A
Genre: Conference Paper

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 Creators:
Ilg, W, Author              
Bakir, GH1, 2, Author              
Franz, MO1, 2, Author              
Giese, M, Author              
Affiliations:
1Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              
2Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497795              

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 Abstract: Imitation learning is a promising technique for teaching robots complex movement sequences. One key problem in this area is the transfer of perceived movement characteristics from perception to action. For the solution of this problem, representations are required that are suitable for the analysis and the synthesis of complex action sequences. We describe the method of Hierarchical Spatio-Temporal Morphable Models that allows an automatic segmentation of movements sequences into movement primitives, and a modeling of these primitives by morphing between a set of prototypical trajectories. We use HSTMMs in an imitation learning task for human writing movements. The models are learned from recorded trajectories and transferred to a human-like robot arm. Due to the generalization proper- ties of our movement representation, the arm is capable of synthesizing new writing movements with only a few learning examples.

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 Dates: 2003-07
 Publication Status: Published online
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: BibTex Citekey: 2037
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Title: 11th International Conference on Advanced Robotics (ICAR 2003)
Place of Event: Coimbra, Portugal
Start-/End Date: 2003-06-30 - 2003-07-03

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Title: 11th International Conference on Advanced Robotics (ICAR 2003)
Source Genre: Proceedings
 Creator(s):
Nunes, U, Editor
de Almeida, A, Editor
Bejczy, A, Editor
Kosuge, K, Editor
Machado, JAT, Editor
Affiliations:
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Publ. Info: -
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 453 - 458 Identifier: -