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Interactive imitation learning of object movement skills

<02> The paper summarizes work with the Honda Research Institute GmbH, Offenbach, on movement representation, learning and implementation on the ASIMO robot, which was available at Offenbach through a joint research project. It combines Gaussion mixtures for movement representation, attractor based online movement optimization, attention, and a high-level task control in a coherent architecture that allows for flexible skill transfer from left to right hand, from free to obstacle-cluttered space, and across objects to be mainpulated. A related patent “Robot with automatic selection of task-specific representations for imitation learning” was granted in the US (20100222924) and the EU (EP 2224303).