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• W2077891689 abstract "In this paper, we present a method to improve a robot's imitation performance in a drawing scenario by inserting pauses in motion. Human's drawing skills are said to develop through five stages: 1) Scribbling, 2) Fortuitous Realism, 3) Failed Realism, 4) Intellectual Realism, and 5) Visual Realism. We focus on stages 1) and 3) for creating our system, each corresponding to body babbling and imitation learning, respectively. For stage 1), the robot randomly moves its arm to associate robot's arm dynamics with the drawing result. Presuming that the robot has no knowledge about its own dynamics, the robot learns its body dynamics in this stage. For stage 3), we consider a scenario where a robot would imitate a human's drawing motion. Upon creating the system, we focus on the motionese phenomenon, which is one of the key factors for discussing acquisition of a skill through a human parent-child interaction. In motionese, the parent would first show each action elaborately to the child, when teaching a skill. As the child starts to improve, the parent's actions would be simplified. Likewise in our scenario, the human would first insert pauses during the drawing motions where the direction of drawing changes (i.e. corners). As the robot's imitation learning of drawing converges, the human would change to drawing without pauses. The experimental results show that insertion of pause in drawing imitation scenarios greatly improves the robot's drawing performance. In this paper, we introduce a mutual imitation strategy between a human and robot for improving the robot's imitation performance. In consideration of the approach, a phenomenon called motionese is a key factor seen in imitation learning between a parent and a child (10). When a parent starts to teach the child a skill composed of a series of actions, the parent tends to show each action elaborately or emphatically. As the child starts to get used to the actions, the parent would simplify the teaching motion. This phe- nomenon, motionese, is said to facilitate the developmental process. Nagai et al. has also discussed about the effects of motionese to imitation learning between human and robot (11). In spite of the attraction of the motionese phenomenon, few studies have actually adapted the approach to real robot platforms. In our previous paper, we created a robot's imitation of human's shape drawing (9). The drawing scenario is a good example that greatly involves physical embodiment while the result is easy to analyze. The model was based on stages 1) and 3) of the definition of human infant's development of drawing skills by Louquet (8)." @default.
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• W2077891689 date "2014-05-01" @default.
• W2077891689 modified "2023-09-24" @default.
• W2077891689 title "Insertion of pause in drawing from babbling for robot's developmental imitation learning" @default.
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• W2077891689 doi "https://doi.org/10.1109/icra.2014.6907559" @default.
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