creators_name: Demiris, Yiannis creators_name: Dearden, Anthony editors_name: Berthouze, Luc editors_name: Kaplan, Frédéric editors_name: Kozima, Hideki editors_name: Yano, Hiroyuki editors_name: Konczak, Jürgen editors_name: Metta, Giorgio editors_name: Nadel, Jacqueline editors_name: Sandini, Giulio editors_name: Stojanov, Georgi editors_name: Balkenius, Christian type: confpaper datestamp: 2006-07-16 lastmod: 2011-03-11 08:56:28 metadata_visibility: show title: From motor babbling to hierarchical learning by imitation: a robot developmental pathway ispublished: pub subjects: comp-sci-mach-learn subjects: comp-sci-robot full_text_status: public keywords: Bayesian belief network, HAMMER architecture, hierarchial social learning, simulation theory of mind, developmental robot abstract: How does an individual use the knowledge acquired through self exploration as a manipulable model through which to understand others and benefit from their knowledge? How can developmental and social learning be combined for their mutual benefit? In this paper we review a hierarchical architecture (HAMMER) which allows a principled way for combining knowledge through exploration and knowledge from others, through the creation and use of multiple inverse and forward models. We describe how Bayesian Belief Networks can be used to learn the association between a robot’s motor commands and sensory consequences (forward models), and how the inverse association can be used for imitation. Inverse models created through self exploration, as well as those from observing others can coexist and compete in a principled unified framework, that utilises the simulation theory of mind approach to mentally rehearse and understand the actions of others. date: 2005 date_type: published volume: 123 publisher: Lund University Cognitive Studies pagerange: 31-37 refereed: TRUE citation: Demiris, Yiannis and Dearden, Anthony (2005) From motor babbling to hierarchical learning by imitation: a robot developmental pathway. [Conference Paper] document_url: http://cogprints.org/4961/1/demiris.pdf