?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=A+Multimodal+Hierarchial+Approach+to+Robot+Learning+by+Imitation&rft.creator=Weber%2C+Cornelius&rft.creator=Elshaw%2C+Mark&rft.creator=Zochios%2C+Alex&rft.creator=Wermter%2C+Stefan&rft.subject=Machine+Learning&rft.subject=Neural+Nets&rft.subject=Robotics&rft.description=In+this+paper+we+propose+an+approach+to+robot+learning+by+imitation+that+uses+the+multimodal+inputs+of+language%2C+vision+and+motor.+In+our+approach+a+student+robot+learns+from+a+teacher+robot+how+to+perform+three+separate+behaviours+based+on+these+inputs.+We+considered+two+neural+architectures+for+performing+this+robot+learning.+First%2C+a+one-step+hierarchial+architecture+trained+with+two+different+learning+approaches+either+based+on+Kohonen's+self-organising+map+or+based+on+the+Helmholtz+machine+turns+out+to+be+inefficient+or+not+capable+of+performing+differentiated+behavior.+In+response+we+produced+a+hierarchial+architecture+that+combines+both+learning+approaches+to+overcome+these+problems.+In+doing+so+the+proposed+robot+system+models+specific+aspects+of+learning+using+concepts+of+the+mirror+neuron+system+(Rizzolatti+and+Arbib%2C+1998)+with+regards+to+demonstration+learning.&rft.publisher=Lund+University+Cognitive+Studies&rft.contributor=Berthouze%2C+Luc&rft.contributor=Kozima%2C+Hideki&rft.contributor=Prince%2C+Christopher+G.&rft.contributor=Sandini%2C+Giulio&rft.contributor=Stojanov%2C+Georgi&rft.contributor=Metta%2C+Giorgio&rft.contributor=Balkenius%2C+Christian&rft.date=2004&rft.type=Conference+Paper&rft.type=PeerReviewed&rft.format=application%2Fpdf&rft.identifier=http%3A%2F%2Fcogprints.org%2F4148%2F1%2Fweber.pdf&rft.identifier=++Weber%2C+Cornelius+and+Elshaw%2C+Mark+and+Zochios%2C+Alex+and+Wermter%2C+Stefan++(2004)+A+Multimodal+Hierarchial+Approach+to+Robot+Learning+by+Imitation.++%5BConference+Paper%5D+++++&rft.relation=http%3A%2F%2Fcogprints.org%2F4148%2F