1. Chapter 13. How to build an imitator in Imitation and Social Learning in Robots, Humans and Animals Course: Robots Learning from Humans Park, Susang 2015.11.6 Optimization Laboratory School of Computer Science and Engineering Seoul National University http://soar.snu.ac.kr

2. Contents Introduction Main features of Infant and Robot Perception-action Architecture Motive to imitate Learning Function Communicative Function Conclusion 2

3. Introduction The development of imitation in human infant and in an autonomous robot. Main features of Human Infant and Autonomous Robot Motive to imitate – Learning Function, Communicative Function © 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 3

4. Main features of Infant and Robot © 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 4 https://www.youtube.com/watch?v=LBKC7UDd-eI

5. Main features of Infant and Robot Vision Sensitive to move Kinesthesis Motor equipment Autonomy Attraction forward novelty Perception-action coupling © 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 5

6. Perception-action Architecture © 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 6 Sensors Low-level Processing Low-level Processing Motor Output Recognitions Novelty Learning Motor equipment Autonomy Vision Kinesthesis Environment

7. Motive to imitate Learning Function - The people who are insensitive to environment’s change are not human’s ancestry. - Attraction forward novelty Communicative Function - The people who are alone are not human’s ancestry, too. - Transfer of knowledge from one individual to another. © 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 7

8. Learning Function Attraction forward novelty “Look-at-me and do-like-me” - Observational learning. A system allow the imitation of the movement of a teacher(or model)’s movement. © 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 8

9. Communicative Function Transfer of knowledge from one individual to another. Turn-taking : Imitator and model role. © 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 9

10. Communicative Function Synchrony A model of synchronization of rhythm between two systems describes the first step toward a communicative us of imitation. © 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 10 action perception WaitWait action WaitWait A B

11. Conclusion © 2015, SNU CSE Biointelligence Lab., http://bi.snu.ac.kr 11 PerAc Architecture PerAc Architecture PerAc Architecture PerAc Architecture Perception Action Perception Action Other’s motivation through interaction Motivation PerAc Architecture is consist of main features