Towards a Real-Time Bayesian Imitation System for a Humanoid Robot

• Imitation learning, or programming by demonstration, could allow robots to acquire domain-specific skills directly from humans.

• We have prototyped a real-time closed-loop system for teaching a humanoid robot to interact with objects in its environment.

• Nonparametric Bayesian inference is used to determine an optimal action (out of directly observed actions) given current object configuration and a goal.

Aaron P. Shon, Joshua J. Storz, Rajesh P.N. RaoDepartment of Computer Science and Engineering, University of Washington,

Seattle WA USA