{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,19]],"date-time":"2025-06-19T04:26:48Z","timestamp":1750307208211,"version":"3.41.0"},"reference-count":33,"publisher":"Association for Computing Machinery (ACM)","issue":"2","license":[{"start":{"date-parts":[[2012,2,1]],"date-time":"2012-02-01T00:00:00Z","timestamp":1328054400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Intell. Syst. Technol."],"published-print":{"date-parts":[[2012,2]]},"abstract":"<jats:p>In general, imitation is imprecisely used to address different levels of social learning from high-level knowledge transfer to low-level regeneration of motor commands. However, true imitation is based on abstraction and conceptualization. This article presents a model for conceptual imitation through interaction with the teacher to abstract spatio-temporal demonstrations based on their functional meaning. Abstraction, concept acquisition, and self-organization of proto-symbols are performed through an incremental and gradual learning algorithm. In this algorithm, Hidden Markov Models (HMMs) are used to abstract perceptually similar demonstrations. However, abstract (relational) concepts emerge as a collection of HMMs irregularly scattered in the perceptual space but showing the same functionality. Performance of the proposed algorithm is evaluated in two experimental scenarios. The first one is a human-robot interaction task of imitating signs produced by hand movements. The second one is a simulated interactive task of imitating whole body motion patterns of a humanoid model. Experimental results show efficiency of our model for concept extraction, proto-symbol emergence, motion pattern recognition, prediction, and generation.<\/jats:p>","DOI":"10.1145\/2089094.2089104","type":"journal-article","created":{"date-parts":[[2012,10,12]],"date-time":"2012-10-12T20:56:02Z","timestamp":1350075362000},"page":"1-25","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":5,"title":["Conceptual Imitation Learning in a Human-Robot Interaction Paradigm"],"prefix":"10.1145","volume":"3","author":[{"given":"Hossein","family":"Hajimirsadeghi","sequence":"first","affiliation":[{"name":"University of Tehran"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Majid Nili","family":"Ahmadabadi","sequence":"additional","affiliation":[{"name":"University of Tehran"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Babak Nadjar","family":"Araabi","sequence":"additional","affiliation":[{"name":"University of Tehran"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hadi","family":"Moradi","sequence":"additional","affiliation":[{"name":"University of Tehran"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2012,2]]},"reference":[{"volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS).","author":"Ajallooeian M.","key":"e_1_2_1_1_1","unstructured":"Ajallooeian , M. , Ahmadabadi , M. N. , Araabi , B. N. , and Moradi , H . 2009a. An imitation model based on CPG with application to robotic marionette behavior learning . In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). Ajallooeian, M., Ahmadabadi, M. N., Araabi, B. N., and Moradi, H. 2009a. An imitation model based on CPG with application to robotic marionette behavior learning. In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)."},{"volume-title":"Proceedings of the IEEE ROMAN Conference.","author":"Ajallooeian M.","key":"e_1_2_1_2_1","unstructured":"Ajallooeian , M. , Borji , A. , Araabi , B. N. , Ahmadabadi , M. N. , and Moradi , H . 2009b. Fast hand gesture recognition based on saliency maps: An application to interactive robotic marionette playing . In Proceedings of the IEEE ROMAN Conference. Ajallooeian, M., Borji, A., Araabi, B. N., Ahmadabadi, M. N., and Moradi, H. 2009b. Fast hand gesture recognition based on saliency maps: An application to interactive robotic marionette playing. In Proceedings of the IEEE ROMAN Conference."},{"volume-title":"Imitation in Animals and Artifacts","author":"Arbib M.","key":"e_1_2_1_3_1","unstructured":"Arbib , M. 2002. The mirror system, imitation, and the evolution of language . In Imitation in Animals and Artifacts . MIT Press , 229. Arbib, M. 2002. The mirror system, imitation, and the evolution of language. In Imitation in Animals and Artifacts. MIT Press, 229."},{"key":"e_1_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.01.007"},{"key":"e_1_2_1_5_1","doi-asserted-by":"crossref","unstructured":"Billard A. Calinon S. Dillmann R. and Schaal S. 2008. Robot programming by demonstration. In Handbook of Robotics. 1371--1394. Billard A. Calinon S. Dillmann R. and Schaal S. 2008. Robot programming by demonstration. In Handbook of Robotics . 1371--1394.","DOI":"10.1007\/978-3-540-30301-5_60"},{"key":"e_1_2_1_6_1","doi-asserted-by":"crossref","unstructured":"Breazeal C. and Scassellati B. 2002. Challenges in building robots that imitate people. In Imitation in Animals and Artifacts MIT Press 363--390. Breazeal C. and Scassellati B. 2002. Challenges in building robots that imitate people. In Imitation in Animals and Artifacts MIT Press 363--390.","DOI":"10.7551\/mitpress\/3676.003.0015"},{"volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). 2769--2774","author":"Calinon S.","key":"e_1_2_1_7_1","unstructured":"Calinon , S. and Billard , A . 2004. Stochastic gesture production and recognition model for a humanoid robot . In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). 2769--2774 . Calinon, S. and Billard, A. 2004. Stochastic gesture production and recognition model for a humanoid robot. In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). 2769--2774."},{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation. 299--304","author":"Calinon S.","key":"e_1_2_1_8_1","unstructured":"Calinon , S. , Guenter , F. , and Billard , A . 2005. Goal-Directed imitation in a humanoid robot . In Proceedings of the IEEE International Conference on Robotics and Automation. 299--304 . Calinon, S., Guenter, F., and Billard, A. 2005. Goal-Directed imitation in a humanoid robot. In Proceedings of the IEEE International Conference on Robotics and Automation. 299--304."},{"key":"e_1_2_1_9_1","doi-asserted-by":"publisher","DOI":"10.1145\/1869397.1869404"},{"key":"e_1_2_1_10_1","unstructured":"Davidsson P. 1994. Concepts and autonomous agents. http:\/\/fileadmin.cs.lth.se\/ai\/psfiles\/Paul-Lic.pdf. Davidsson P. 1994. Concepts and autonomous agents. http:\/\/fileadmin.cs.lth.se\/ai\/psfiles\/Paul-Lic.pdf."},{"key":"e_1_2_1_11_1","unstructured":"Emanuele T. and Alessandro V. 1998. Introductory Techniques for 3D Computer Vision. Prentice-Hall Englewood Cliffs NJ. Emanuele T. and Alessandro V. 1998. Introductory Techniques for 3D Computer Vision . Prentice-Hall Englewood Cliffs NJ."},{"volume-title":"Proceedings of the IEEE RAS International Conference on Humanoid Robots.","author":"Geib C.","key":"e_1_2_1_12_1","unstructured":"Geib , C. , Mourao , K. , Petrick , R. , Pugeault , N. , Steedman , M. , Krueger , N. , and W\u00f6rg\u00f6tter , F . 2006. Object action complexes as an interface for planning and robot control . In Proceedings of the IEEE RAS International Conference on Humanoid Robots. Geib, C., Mourao, K., Petrick, R., Pugeault, N., Steedman, M., Krueger, N., and W\u00f6rg\u00f6tter, F. 2006. Object action complexes as an interface for planning and robot control. In Proceedings of the IEEE RAS International Conference on Humanoid Robots."},{"key":"e_1_2_1_13_1","first-page":"341","article-title":"Conceptual imitation learning: An application to human-robot interaction","volume":"13","author":"Hajimirsadeghi H.","year":"2010","unstructured":"Hajimirsadeghi , H. , Ahmadabadi , M. N. , Ajallooeian , M. , Araabi , B. N. , and Moradi , H. 2010 . Conceptual imitation learning: An application to human-robot interaction . J. Mach. Learn. Res. 13 , 341 -- 356 . Hajimirsadeghi, H., Ahmadabadi, M. N., Ajallooeian, M., Araabi, B. N., and Moradi, H. 2010. Conceptual imitation learning: An application to human-robot interaction. J. Mach. Learn. Res. 13, 341--356.","journal-title":"J. Mach. Learn. Res."},{"key":"e_1_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904042199"},{"key":"e_1_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/34.730558"},{"volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). 2900--2905","author":"Kadone H.","key":"e_1_2_1_16_1","unstructured":"Kadone , H. and Nakamura , Y . 2005. Symbolic memory for humanoid robots using hierarchical bifurcations of attractors in nonmonotonic neural networks . In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). 2900--2905 . Kadone, H. and Nakamura, Y. 2005. Symbolic memory for humanoid robots using hierarchical bifurcations of attractors in nonmonotonic neural networks. In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). 2900--2905."},{"volume-title":"Proceedings of the 6th IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS). 432--437","author":"Kadone H.","key":"e_1_2_1_17_1","unstructured":"Kadone , H. and Nakamura , Y . 2006a. Hierarchical concept formation in associative memory models and its application to memory of motions for humanoid robots . In Proceedings of the 6th IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS). 432--437 . Kadone, H. and Nakamura, Y. 2006a. Hierarchical concept formation in associative memory models and its application to memory of motions for humanoid robots. In Proceedings of the 6th IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS). 432--437."},{"volume-title":"Proceedings of the 6th IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS). 1--6.","author":"Kadone H.","key":"e_1_2_1_18_1","unstructured":"Kadone , H. and Nakamura , Y . 2006b. Segmentation, memorization, recognition and abstraction of humanoid motions based on correlations and associative memory . In Proceedings of the 6th IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS). 1--6. Kadone, H. and Nakamura, Y. 2006b. Segmentation, memorization, recognition and abstraction of humanoid motions based on correlations and associative memory. In Proceedings of the 6th IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS). 1--6."},{"key":"e_1_2_1_19_1","doi-asserted-by":"publisher","DOI":"10.1093\/cercor\/12.8.818"},{"key":"e_1_2_1_20_1","doi-asserted-by":"crossref","unstructured":"Kruschke J. K. 2005. Category learning. In The Handbook of Cognition. 183--201. Kruschke J. K. 2005. Category learning. In The Handbook of Cognition . 183--201.","DOI":"10.4135\/9781848608177.n7"},{"volume-title":"Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication. 1016--1021","author":"Kulic D.","key":"e_1_2_1_21_1","unstructured":"Kulic , D. , Takano , W. , and Nakamura , Y . 2007. Incremental on-line hierarchical clustering of whole body motion patterns . In Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication. 1016--1021 . Kulic, D., Takano, W., and Nakamura, Y. 2007. Incremental on-line hierarchical clustering of whole body motion patterns. In Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication. 1016--1021."},{"key":"e_1_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908091153"},{"key":"e_1_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2026508"},{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation. 1722--1728","author":"Lee D.","key":"e_1_2_1_24_1","unstructured":"Lee , D. , Kulic , D. , and Nakamura , Y . 2008. Missing motion data recovery using factorial hidden markov models . In Proceedings of the IEEE International Conference on Robotics and Automation. 1722--1728 . Lee, D., Kulic, D., and Nakamura, Y. 2008. Missing motion data recovery using factorial hidden markov models. In Proceedings of the IEEE International Conference on Robotics and Automation. 1722--1728."},{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation. 1495--1500","author":"Mobahi H.","key":"e_1_2_1_25_1","unstructured":"Mobahi , H. , Ahmadabadi , M. N. , and Araabi , B. N . 2005. Concept oriented imitation towards verbal human-robot interaction . In Proceedings of the IEEE International Conference on Robotics and Automation. 1495--1500 . Mobahi, H., Ahmadabadi, M. N., and Araabi, B. N. 2005. Concept oriented imitation towards verbal human-robot interaction. In Proceedings of the IEEE International Conference on Robotics and Automation. 1495--1500."},{"key":"e_1_2_1_26_1","doi-asserted-by":"publisher","DOI":"10.1080\/08839510601170713"},{"key":"e_1_2_1_27_1","doi-asserted-by":"publisher","DOI":"10.5555\/108235.108253"},{"key":"e_1_2_1_28_1","doi-asserted-by":"crossref","unstructured":"Samejima K. Katagiri K. Doya K. and Kawato M. 2006. Symbolization and imitation learning of motion sequence using competitive modules. Electron. Comm. Japan Part III 89 9 42--53. Samejima K. Katagiri K. Doya K. and Kawato M. 2006. Symbolization and imitation learning of motion sequence using competitive modules. Electron. Comm. Japan Part III 89 9 42--53.","DOI":"10.1002\/ecjc.20267"},{"key":"e_1_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.1017\/S0140525X00051578"},{"key":"e_1_2_1_30_1","doi-asserted-by":"crossref","unstructured":"Seber G. A. 1984. Multivariate Observations. Wiley. Seber G. A. 1984. Multivariate Observations . Wiley.","DOI":"10.1002\/9780470316641"},{"volume-title":"Proceedings of the 6th IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS). 425--431","author":"Takano W.","key":"e_1_2_1_31_1","unstructured":"Takano , W. and Nakamura , Y . 2006. Humanoid robot\u2019s autonomous acquisition of proto-symbols through motion segmentation . In Proceedings of the 6th IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS). 425--431 . Takano, W. and Nakamura, Y. 2006. Humanoid robot\u2019s autonomous acquisition of proto-symbols through motion segmentation. In Proceedings of the 6th IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS). 425--431."},{"key":"e_1_2_1_32_1","doi-asserted-by":"publisher","DOI":"10.1145\/1869397.1869403"},{"key":"e_1_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1901\/jeab.2002.78-237"}],"container-title":["ACM Transactions on Intelligent Systems and Technology"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/2089094.2089104","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/2089094.2089104","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T10:06:30Z","timestamp":1750241190000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/2089094.2089104"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,2]]},"references-count":33,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2012,2]]}},"alternative-id":["10.1145\/2089094.2089104"],"URL":"https:\/\/doi.org\/10.1145\/2089094.2089104","relation":{},"ISSN":["2157-6904","2157-6912"],"issn-type":[{"type":"print","value":"2157-6904"},{"type":"electronic","value":"2157-6912"}],"subject":[],"published":{"date-parts":[[2012,2]]},"assertion":[{"value":"2010-12-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2011-04-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2012-02-01","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}