Towards imitation learning in robotics
Luca Garello - DIBRIS, Università di Genova e Istituto Italiano di Tecnologia
Imitation learning plays a key role in our development from the early years of our life. In fact, by observing expert demonstrators we are able to learn new skills. For this reason the idea of having robots able to learn new tasks by using demonstration policies is the subject of an increasing number of research. With our work we focus on the ability of remapping actions in our perspective and we propose a generative model able to shift the perspective from third person to first person. This perspective translation is performed by using only RGB images. Moreover, our model generates an embedded representation of the action which can be used to understand the action. These embeddings are autonomously learnt following a time-consistent pattern without the human supervision. In the last part of the seminar we will show how our model can be successfully implemented on a real robot to perform an imitation task.
Luca is a 2nd year PhD student at MALGA and collaborates with the Robotics Brain and Cognitive Sciences laboratory at the Italian Institute of Technology (iit). His research interests revolve around machine learning and computer vision applied to Robotics, with a focus on new algorithms that enhance the quality of Human-Robot-Interaction.
2021-03-30 at 3:00 pm