Publications associées à Imitation (processus d'apprentissage)

Imitation Learning in Discounted Linear MDPs without exploration assumptions

Volkan Cevher, Efstratios Panteleimon Skoulakis, Luca Viano

We present a new algorithm for imitation learning in infinite horizon linear MDPs dubbed ILARL which greatly improves the bound on the number of trajectories that the learner needs to sample from the environment. In particular, we re- move exploration assu ...

2024

Follow the Clairvoyant: an Imitation Learning Approach to Optimal Control

Giancarlo Ferrari Trecate, Luca Furieri, John Lygeros, Andrea Martin, Florian Dörfler

We consider control of dynamical systems through the lens of competitive analysis. Most prior work in this area focuses on minimizing regret, that is, the loss relative to an ideal clairvoyant policy that has noncausal access to past, present, and future d ...

Elsevier2023

Many Are The Ways to Learn: Identifying multi-modal behavioral profiles of collaborative learning in constructivist activities

Pierre Dillenbourg, Barbara Bruno, Jauwairia Nasir, Aditi Kothiyal

Understanding how learners engage with learning technologies, and its relation with their learning, is crucial to the design of effective learning interventions. Assessing the learners’ state however, is non-trivial. Research suggests that performance is n ...

2021

Optimal Control Combining Emulation and Imitation to Acquire Physical Assistance Skills

Sylvain Calinon, Amirreza Razmjoo Fard, Teguh Santoso Lembono

paper studies exploiting action-level learning (imitation) in the optimal control problem context. Cost functions defined by the optimal control methods are similar to the goal-level learning (emulation) in animals. However, imitating the robot's or others ...

IEEE2021

Learning, Generating and Adapting Wave Gestures for Expressive Human-Robot Interaction

Sylvain Calinon

This study proposes a novel imitation learning approach for the stochastic generation of human-like rhythmic wave gestures and their modulation for effective non-verbal communication through a probabilistic formulation using joint angle data from human dem ...

ACM2020

Imitation, Proximity, and Growth - A Collective Swarm Dynamics Approach

Max-Olivier Hongler, Olivier Gallay, Fariba Hashemi

This paper is based on the premise that economic growth is driven by an interplay between innovation and imitation in an economy composed of interacting ̄rms operating in a stochastic environment. A novel approach to modeling imitation is presented based o ...

2019

An Approach for Imitation Learning on Riemannian Manifolds

Sylvain Calinon

In imitation learning, multivariate Gaussians are widely used to encode robot behaviors. Such approaches do not provide the ability to properly represent end-effector orientation, as the distance metric in the space of orientations is not Euclidean. In thi ...

2017

A Motion Capture Study to Measure the Feeling of Synchrony in Romantic Couples and in Professional Musicians

Pierre Magistretti, Delphine Preissmann, Joan Llobera Mahy

The feeling of synchrony is fundamental for most social activities and prosocial behaviors. However, little is known about the behavioral correlates of this feeling and its modulation by intergroup differences. We previously showed that the subjective feel ...

Frontiers Media2016

Tractable Approaches to Learning and Planning in High Dimensions

Leonidas Lefakis

The continuous increase, witnessed in the last decade, of both the amount of available data and the areas of application of machine learning, has lead to a demand for both learning and planning algorithms that are capable of handling large-scale problems. ...

EPFL2014

Learning control Lyapunov function to ensure stability of dynamical system-based robot reaching motions

Aude Billard, Seyed Mohammad Khansari Zadeh

We consider an imitation learning approach to model robot point-to-point (also known as discrete or reaching) movements with a set of autonomous Dynamical Systems (DS). Each DS model codes a behavior (such as reaching for a cup and swinging a golf club) at ...

Elsevier2014