UFES- Universidade Federal do Esprito Santo

Abstract | We propose an approach that allows a robot to learn a task through imitation, using motor representations, as suggested by recent ndings in neuroscience. The robot relies on a visuomotor map to convert visual information into motor data. Then, by observing and imitating other agents, the robot can learn a set of elementary motions (motor vocabulary), that will eventually be used to compose more complex actions, for each specic task domain. We illustrate the approach in a mobile robotics task. Egomotion estimation through a neural network is used as a visuomotor map. It allows the robot to learn a motor vocabulary for topological mapping and navigation. The approach can be extended to dierent robots and applications. Encouraging results are presented and discussed