{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,4,8]],"date-time":"2024-04-08T00:22:22Z","timestamp":1712535742319},"reference-count":70,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2011,6,24]],"date-time":"2011-06-24T00:00:00Z","timestamp":1308873600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2012,3]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>We have proposed a new repetition framework for vision-based behavior imitation by a sequence of multiple humanoid robots, introducing an on-line method for delimiting a time-varying context. This novel approach investigates the ability of a robot \u201cstudent\u201d to observe and imitate a behavior from a \u201cteacher\u201d robot; the student later changes roles to become the \u201cteacher\u201d for a na\u00efve robot. For the many robots that already use video acquisition systems for their real-world tasks, this method eliminates the need for additional communication capabilities and complicated interfaces. This can reduce human intervention requirements and thus enhance the robots' practical usefulness outside the laboratory. Articulated motions are modeled in a three-layer method and registered as learned behaviors using color-based landmarks. Behaviors were identified on-line after each iteration by inducing a decision tree from the visually acquired data. Error accumulated over time, creating a context drift for behavior identification. In addition, identification and transmission of behaviors can occur between robots with differing, dynamically changing configurations. ITI, an on-line decision tree inducer in the C4.5 family, performed well for data that were similar in time and configuration to the training data but the greedily chosen attributes were not optimized for resistance to accumulating error or configuration changes. Our novel algorithm, OLDEX identified context changes on-line, as well as the amount of drift that could be tolerated before compensation was required. OLDEX can thus identify time and configuration contexts for the behavior data. This improved on previous methods, which either separated contexts off-line, or could not separate the slowly time-varying context into distinct regions at all. The results demonstrated the feasibility, usefulness, and potential of our unique idea for behavioral repetition and a propagating learning scheme.<\/jats:p>","DOI":"10.1017\/s0263574711000580","type":"journal-article","created":{"date-parts":[[2011,6,24]],"date-time":"2011-06-24T08:54:06Z","timestamp":1308905646000},"page":"315-332","source":"Crossref","is-referenced-by-count":2,"title":["Self-reproduction for articulated behaviors with dual humanoid robots using on-line decision tree classification"],"prefix":"10.1017","volume":"30","author":[{"given":"Jane Brooks","family":"Zurn","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuichi","family":"Motai","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Scott","family":"Vento","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2011,6,24]]},"reference":[{"key":"S0263574711000580_ref67","doi-asserted-by":"publisher","DOI":"10.1007\/BF00116900"},{"key":"S0263574711000580_ref66","doi-asserted-by":"publisher","DOI":"10.1023\/A:1013258808932"},{"key":"S0263574711000580_ref45","first-page":"2219","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Peters","year":"2006"},{"key":"S0263574711000580_ref5","first-page":"1988","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'01)","author":"Bentivegna","year":"2001"},{"key":"S0263574711000580_ref32","volume-title":"Proceedings of the IEEE Int. Conf. Intelligent Robots and Systems (IROS '96)","author":"Kosuge","year":"1996"},{"key":"S0263574711000580_ref57","first-page":"416","volume-title":"Proceedings of the 6th International Conference on Emerging Technologies and Factory Automation (ETFA '97)","author":"Shah Hamzei","year":"1997"},{"key":"S0263574711000580_ref50","volume-title":"Expert Systems in the Micro-electronic Age","author":"Quinlan","year":"1979"},{"key":"S0263574711000580_ref28","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1109\/JRA.1987.1087068","article-title":"A unified approach for motion and force control of robot manipulators: the operational space formulation","volume":"3","author":"Khalid","year":"1987","journal-title":"IEEE J. Robot. Autom."},{"key":"S0263574711000580_ref25","volume-title":"Experiments in Induction","author":"Hunt","year":"1966"},{"key":"S0263574711000580_ref55","first-page":"495","volume-title":"Proceedings of the 5th National Conference on Artificial Intelligence","author":"Schlimmer","year":"1986"},{"key":"S0263574711000580_ref9","doi-asserted-by":"publisher","DOI":"10.1126\/science.1133687"},{"key":"S0263574711000580_ref6","doi-asserted-by":"publisher","DOI":"10.1177\/105971239900700103"},{"key":"S0263574711000580_ref64","doi-asserted-by":"publisher","DOI":"10.1023\/A:1007413323501"},{"key":"S0263574711000580_ref51","doi-asserted-by":"publisher","DOI":"10.1007\/BF00116251"},{"key":"S0263574711000580_ref63","doi-asserted-by":"publisher","DOI":"10.1023\/A:1022699900025"},{"key":"S0263574711000580_ref58","doi-asserted-by":"publisher","DOI":"10.1109\/34.868677"},{"key":"S0263574711000580_ref49","first-page":"1390","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Pollard","year":"2002"},{"key":"S0263574711000580_ref23","doi-asserted-by":"publisher","DOI":"10.1023\/A:1007420529897"},{"key":"S0263574711000580_ref29","doi-asserted-by":"publisher","DOI":"10.3115\/992730.992803"},{"key":"S0263574711000580_ref53","doi-asserted-by":"publisher","DOI":"10.1037\/h0025984"},{"key":"S0263574711000580_ref48","volume-title":"Play, Dreams, and Imitation in Childhood","author":"Piaget","year":"1962"},{"key":"S0263574711000580_ref42","volume-title":"in Proceedings Second International Joint Conference on Autonomous Agents and Multi-Agent Systems","author":"Nicolescu","year":"2003"},{"key":"S0263574711000580_ref62","unstructured":"62. Utgoff P. , Mar. 23, 2001, \u201cIncremental tree induction,\u201d Retrieved Nov. 7, 2008, http:\/\/www-lrn.cs.umass.edu\/iti\/index.html"},{"key":"S0263574711000580_ref44","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-36268-1_25"},{"key":"S0263574711000580_ref37","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-48304-7_77"},{"key":"S0263574711000580_ref18","first-page":"912","volume-title":"Proceedings of the IEEE International Conference on Systems, Man and Cybernetics\u2014","author":"Drury","year":"2003"},{"key":"S0263574711000580_ref7","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(01)00155-5"},{"key":"S0263574711000580_ref24","first-page":"97","volume-title":"Paper Presented at the Proceedings of the 7th ACM SIGKDD International Conference on Knowledge Discovery and Data Mining","author":"Hulten","year":"2001"},{"key":"S0263574711000580_ref10","unstructured":"10. Boyd R. S. , 2009, \u201cRobots are narrowing the gap with humans,\u201d http:\/\/www.mcclatchydc.com\/226\/story\/66530.html"},{"key":"S0263574711000580_ref41","unstructured":"41. Motion Analysis, Inc., Retrieved Nov. 7, 2008, http:\/\/www.motionanalysis.com"},{"key":"S0263574711000580_ref19","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(02)00372-X"},{"key":"S0263574711000580_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2006.886952"},{"key":"S0263574711000580_ref68","doi-asserted-by":"publisher","DOI":"10.1109\/34.598236"},{"key":"S0263574711000580_ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TC.1977.1674849"},{"key":"S0263574711000580_ref34","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2010.936961"},{"key":"S0263574711000580_ref27","first-page":"1201","volume-title":"Proceedings of the 2004 Congress Evolutionary Computation","author":"Inoue","year":"2004"},{"key":"S0263574711000580_ref16","unstructured":"16. Dey A. K. and Abowd G. D. , \u201cTowards a Better Understanding of Context and Context-Awareness,\u201d Technical Report, GIT-GVU-99-22. Georgia Institute of Technology (1999)."},{"key":"S0263574711000580_ref14","first-page":"459","volume-title":"Proceedings, IEEE International Symposium on Intelligent Control","author":"Cao","year":"1989"},{"key":"S0263574711000580_ref31","unstructured":"31. Kondo Kagaku Co., Ltd., Jun. 30, 2008, Retrieved Nov. 7, 2008, http:\/\/www.kondo-robot.com\/"},{"key":"S0263574711000580_ref3","doi-asserted-by":"publisher","DOI":"10.1023\/A:1006559212014"},{"key":"S0263574711000580_ref39","doi-asserted-by":"crossref","first-page":"391","DOI":"10.7551\/mitpress\/3676.003.0016","volume-title":"Imitation in Animals and Artifacts","author":"Matari\u0107","year":"2002"},{"key":"S0263574711000580_ref56","doi-asserted-by":"publisher","DOI":"10.1007\/BF00116895"},{"key":"S0263574711000580_ref1","first-page":"203","volume-title":"Proceedings of the International Conference on Development and Learning (ICDL '02)","author":"Amit","year":"2002"},{"key":"S0263574711000580_ref43","unstructured":"43. A.P.A.S, Ariel Dynamics, Jun. 30, 2008, Retrieved Nov. 7, 2008, http:\/\/www.arielnet.com\/"},{"key":"S0263574711000580_ref61","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2005.847577"},{"key":"S0263574711000580_ref11","volume-title":"Classification and Regression Trees","author":"Breiman","year":"1984"},{"key":"S0263574711000580_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/34.868683"},{"key":"S0263574711000580_ref69","first-page":"1500","volume-title":"Proceedings of the Twelfth National Conference on Artificial Intelligence.","author":"Yanco","year":"1994"},{"key":"S0263574711000580_ref47","unstructured":"47. Phillips N. , 2010, \u201cThe robots are cutting in on our dance moves,\u201d http:\/\/www.smh.com.au\/technology\/technology-news\/the-robots-are-cutting-in-on-our-dance-moves-20100827-13vzn.html"},{"key":"S0263574711000580_ref70","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20050"},{"key":"S0263574711000580_ref40","doi-asserted-by":"publisher","DOI":"10.1109\/3477.499796"},{"key":"S0263574711000580_ref65","unstructured":"65. Vicon Motion Systems, Oxford Metrics Ltd., Retrieved Nov. 7, 2008, http:\/\/www.vicon.com"},{"key":"S0263574711000580_ref38","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008819414322"},{"key":"S0263574711000580_ref17","first-page":"1672","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Drumwright","year":"2003"},{"key":"S0263574711000580_ref33","volume-title":"Proceedings of the 1st International Workshop on Epigenetic Robotics","author":"Kozima","year":"2001"},{"key":"S0263574711000580_ref21","first-page":"245","article-title":"The personal rover project: The comprehensive design of a domestic personal robot","volume":"42","author":"Hamner","year":"2003","journal-title":"Robot. Auton. Syst. Special Issue on Socially Interact. Robots"},{"key":"S0263574711000580_ref12","unstructured":"12. Calinon S. and Billard A. , \u201cRecognition and Reproduction of Gestures using a Probabilistic Framework combining PCA, ICA and HMM,\u201d Proceedings of the International Conference on Machine Learning (ICML), Bonn, Germany, August 2005 (2005) pp. 105\u2013112."},{"key":"S0263574711000580_ref36","first-page":"815","article-title":"Split selection methods for classification trees","volume":"7","author":"Loh","year":"1997","journal-title":"Statistica Sinica"},{"key":"S0263574711000580_ref59","first-page":"474","volume-title":"Proceedings of the 4th European Conference on Artificial Life","author":"Steels","year":"1997"},{"key":"S0263574711000580_ref26","first-page":"219","volume-title":"Proceedings of the 2nd IEEE-RAS International Conference on Humanoid Robots","author":"Ijspeert","year":"2001"},{"key":"S0263574711000580_ref52","volume-title":"C4.5: Programs for Machine Learning","author":"Quinlan","year":"1993"},{"key":"S0263574711000580_ref46","doi-asserted-by":"publisher","DOI":"10.1109\/MIS.2001.1183338"},{"key":"S0263574711000580_ref54","doi-asserted-by":"publisher","DOI":"10.1016\/S1364-6613(99)01327-3"},{"key":"S0263574711000580_ref2","first-page":"19","volume-title":"Proceedings of the 4th International Workshop on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems Children","author":"Arsenio","year":"2004"},{"key":"S0263574711000580_ref60","first-page":"43","article-title":"Codevelopmental learning between human and humanoid robot using a dynamic neural-network model","volume":"38","author":"Tani","year":"2008","journal-title":"IEEE Trans. on Syst."},{"key":"S0263574711000580_ref35","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574703005654"},{"key":"S0263574711000580_ref30","first-page":"719","article-title":"Human-robot-communication and machine learning","volume":"11","author":"Klingspor","year":"1997","journal-title":"Applied Artificial Intelligence Journal"},{"key":"S0263574711000580_ref4","volume-title":"Proceedings of the 1st IEEE-RAS International Conference on Humanoid Robots","author":"Bentivegna","year":"2000"},{"key":"S0263574711000580_ref15","unstructured":"15. Cole E. , \u201cAMARSi project could see robots learn from co-workers,\u201d Retrieved Mar. 17, 2010, http:\/\/www.wired.co.uk\/news\/archive\/2010-03\/12\/amarsi-project-could-see-robots-learn-from-co-workers.aspx"},{"key":"S0263574711000580_ref8","doi-asserted-by":"publisher","DOI":"10.1007\/978-4-431-67869-4_12"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574711000580","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,4,7]],"date-time":"2024-04-07T23:28:56Z","timestamp":1712532536000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574711000580\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,6,24]]},"references-count":70,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2012,3]]}},"alternative-id":["S0263574711000580"],"URL":"https:\/\/doi.org\/10.1017\/s0263574711000580","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2011,6,24]]}}}