1. Robot See, Robot do: An Overview of Robot Imitation Author ： Paul Bakker and Yasuo kuniyoshi Date:2007/09/11

2. Outline Introduction What is Imitation? The Promise of Imitation A conceptual Framework for Robot Imitation A Review of Recent Work in Robot Imitation

3. Outline(cont.) Piaget ’ s Imitation Mechanisms Discussion

4. Introduction Programming Reinforcement learning Genetic algorithms Learning by imitation

5. What is Imitation? Imitation take place when an agent learns a behavior from observing the execution of that behavior by a teacher.

6. The Promise of Imitation Adaptation Efficient Communication Compatibility with other Learning Mechanisms Efficient Learning Good Company

7. A conceptual Framework for Robot Imitation Seeing Understand Doing

8. A conceptual Framework for Robot Imitation Seeing->Observe the action Understand->Represent the action Doing->Reproduce the action

9. Observation problem Motivate the agent to observe a teacher. Identify an appropriate teacher to observe. Identify when the teacher is performing an action that should be learned. Accurately observe the teacher ’ s action. Process the relevant environmental information accompanying.

10. Representation problem Choose an appropriate Representation for actions. Convert an observed action to agent ’ s internal representation.

11. Reproduction problem Motivate the agent to consider executing an observed action. Choose the appropriate context in which to reproduce the action. Adapt the action to the current environment.

12. A Review of Recent Work in Robot Imitation Kuniyoshi et ai （ 1994 ） Start and end point Tracking the human hand Symbolic labels To accurately perceive teacher ’ s action To adapt an imitated to the environment

13. A Review of Recent Work in Robot Imitation(cont.) Hayes and Demiris （ 1994 ） Turning by 90 degree Moving straight ahead To map a teacher action to an agent action. To learn when to reproduce an observed action.

14. A Review of Recent Work in Robot Imitation(cont.) Dautenhahn （ 1995 ） Pre-programming To learn social behavior To copying the directional movements of the teacher Associating these movements with the environment.

15. A Review of Recent Work in Robot Imitation(cont.)

16. Piaget ’ s Imitation Mechanisms Exploration Circular Reactions Assimilation Accommodation

17. Discussion How one maps a novel observed action to one ’ s own body? Speech robot