TY - GEN
T1 - Learning object-manipulation verbs for human-robot communication
AU - Sugiura, Komei
AU - Iwahashi, Naoto
PY - 2007/12/1
Y1 - 2007/12/1
N2 - 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.
AB - 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.
KW - HMM
KW - human-robot interaction
KW - motion generation
UR - http://www.scopus.com/inward/record.url?scp=67650175761&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=67650175761&partnerID=8YFLogxK
U2 - 10.1145/1330572.1330577
DO - 10.1145/1330572.1330577
M3 - Conference contribution
AN - SCOPUS:67650175761
SN - 9781595938695
T3 - Workshop on Multimodal Interfaces in Semantic Interaction, WMISI 2007, Proceedings - 9th International Conference on Multimodal Interfaces, ICMI 2007, Post-Conference Workshop
SP - 32
EP - 38
BT - Workshop on Multimodal Interfaces in Semantic Interaction, WMISI 2007, Proceedings - 9th International Conference on Multimodal Interfaces, ICMI 2007, Post-Conference Workshop
T2 - Workshop on Multimodal Interfaces in Semantic Interaction, WMISI 2007 - 9th International Conference on Multimodal Interfaces, ICMI 2007
Y2 - 15 November 2007 through 15 November 2007
ER -