Discovery of other individuals by projecting a self-model through imitation

Ryunosuke Yokoya, Tetsuya Ogata, Jun Tani, Kazunori Komatani, Hiroshi G. Okuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

This paper proposes a novel model which enables a humanoid robot infant to discover other individual (e.g. human parent). In this work, the authors define "other individual" as an actor which can be predicted by a self-model. For modeling the developmental process of discovering ability, the following three approaches are employed. (i) Projection of a self-model for predicting other individual's actions. (ii) Mediation by a physical object between self and other individual. (iii) Introduction of infant imitation by parent. For creating the self-model of a robot, we apply Recurrent Neural Network with Parametric Bias (RNNPB) model which can learn the robot's body dynamics. For the other-model of a human, conventional hierarchical neural networks are attached to the RNNPB model as "conversion modules". Our target task is a moving an object. For evaluation of our model, human discovery experiments by the robot projecting its self-model were conducted. The results demonstrated that our method enabled the robot to predict the human's motions, and to estimate the human's position fairly accurately, which proved its adequacy.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages1009-1014
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
Externally publishedYes
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: 2007 Oct 292007 Nov 2

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period07/10/2907/11/2

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Yokoya, R., Ogata, T., Tani, J., Komatani, K., & Okuno, H. G. (2007). Discovery of other individuals by projecting a self-model through imitation. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 1009-1014). [4399153] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399153