Course wiki

Papers on Imitation Learning

• Review papers on imitation: 1, 2, 3, 4
• Imitation as supervised learning: 1, 2, 3
• Imitation learning using motor primitives: 1, 2, 3
• Imitation based on inferring goals: 1, 2
• Real-time imitation by a humanoid robot: 1
• Gesture imitation using PCA and HMMs: 1, 2
• Gaze following: 1, 2
• Imitation based on learning dynamics: 1, 2, 3
• Imitation based on reinforcement learning/inverse RL: 1, 2
• Imitation learning using probabilistic graphical models: 1
• Full-body imitation based on probabilistic inference and learning: 1, 2, 3

Kinect Videos and Demos

• Kinect shadow puppet
• Kinect gesture-based control of a robotic arm (may want to turn down the audio!)
• Kinect gesture-based control of another robotic arm
• UW Capstone project on robotic arm control with Kinect
• Gesture-based control of a mobile robot using Kinect
• The Kinect Hacks website

NAO Videos and Demos

• Aldebaran robotics company videos:

NAO commercial video

NAO company demo

• NAO writing and drawing:

Example 1

Example 2

Kinect + NAO

• Kinect gesture-based control of NAO
• Kinect upper body controller for NAO (Example 1)
• Kinect upper body controller for NAO (Example 2)
• Demos by Taylor Veltrop:
1. Kinect-based following and pick-and-place tasks
2. (Somewhat painful) Banana cutting and chess playing demo
3. Explanation of the techniques used in the demos

Stable Full-Body Imitation by a Humanoid Robot

• Example 1 (using a NAO but not Kinect)
• Example 2 (using Kinect and a small humanoid)

Books and Papers on Imitation Learning

• Imitation in Animals and Artifacts (book)
• Imitation and Social Learning in Robots, Humans and Animals (book)

Machine Learning and Pattern Recognition

• Bishop’s Pattern Recognition and Machine Learning
• David MacKay’s free book on inference, machine learning and information theory
• Machine Learning class videos from Stanford