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EPFL > STI > IMT > LASA > Events > IROS 2003



Robot Programming by Demonstration

 Friday  31st of October 2003, 12pm-6pm


IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems IROS 2003

Bally's Las Vegas Hotel, October 27 - 31, 2003




Programming by demonstration has become a key research topic in robotics. It impacts both fundamental research and application-oriented studies. Work in that area tackles the development of robust algorithms for motor control, motor learning, gesture recognition and visuo-motor integration. While the field existed for more than twenty years, recent developments, taking inspiration in biological mechanisms of imitation, have brought a new perspective, which this workshop aims at assessing.

Studies of imitation in biological systems stressed a number of key issues that are, also, of concerns to Robotics. These are the need to define a metric of imitation performance and the need to determine a representation common to visual and motor systems.


The workshop will address the following key questions:>

- What should the robot imitate, i.e. which features of the task should be reproduced?

- Can imitation use known motor learning techniques or does it require the development of new 

   learning and control policies?

- How could the metric drive the choice of learning technique?

- Does imitation speed up skill learning in robots?

- What are the costs of imitation learning?

- How could we define a general metric of imitation performance?

- Are there skills that could not be acquired without demonstration?

- Should gesture recognition and motor learning algorithms be context-specific?

- Can one find a level of representation of movement common to both gesture recognition and motor control?

- How can models of human kinematics, used in gesture recognition, drive the reproduction of the task?

Call for Papers  

We solicit papers relevant to the general workshop theme in the three categories:

  1. research papers  
  2. application papers
  3. challenge/position statements (typically only 1 or 2 pages)

Relevant workshop topics include (non-exhaustive list):  

Important Dates  

August 4, 2003

Deadline for paper submission

August 15, 2003

Notification of acceptance

August 30, 2003

Deadline for final contributions

October 31, 2003


Final Submission Instructions  


New! Instructions for authors invited to submit  their paper for publication in the special issue on "Robot Learning by Demonstration" of the Robotics and Autonomous Systems journal can be found here.


Program  (Preliminary)
12:00 Welcome and overview,   Aude Billard & Roland Siegwart
PART 1: Invited Speakers
12:10 Rudiger Dillmann Teaching and Learning of Robot Tasks via Observation of Human Performance
12:30 Helge Ritter, Robotics: A data mining perspective 
12:50 Jianwei Zhang Self-Valuing Learning and Generalization of Visually Guided Grasping
13:10 Ales Ude  Using motion capture techniques to program high degree of freedom humanoid robot motion 
13:30 Jun Nakanishi, Learning from Demonstration and Adaptation of Biped Locomotion  
13:50 Auke Jan Ijspeert, Imitation of Human-Demonstrated Movements with Nonlinear Dynamical Systems in Humanoid Robots
14:10 Aude Billard,  Common Issues to Robotics and Biological Approaches to Imitation Learning
14:30 Coffee break (30 min) 
PART 2: Accepted Papers 
15:00  Leveraging on a Virtual Environment for Robot Programming by Demonstration
Jacopo Aleotti, Stefano Caselli, Monica Reggiani
15:20 A Posture Sequence Learning System for an Anthropomorphic Robotic Hand
Ignazio Infantino, Antonio Chella, Haris Džindo, Irene Macaluso
15:40  Motor Representations for Hand Gesture Recognition and Imitation
Manuel Cabido Lopes & Jose Santos-Victor
16:00  Improving Robot Programming Flexibility through Physical Human Robot Interaction
M. Frigola, J. Poyatos , A. Casalsand J. Amat
16:20 Learning Issues in a Multi-Modal Robot-Instruction Scenario
J. J. Steil, F. Rothling, R. Haschke, and H. Ritter
16:40 Towards Integrating Learning by Demonstration and Learning by Instruction in a Multimodal Robot.
Stefan Wermter, Mark Elshaw, Cornelius Weber, Christo Panchev, Harry Erwin
17:00  Learning From Observation and Practice Using Primitives
Darrin C. Bentivegna, Christopher G. Atkeson, Gordon Cheng
17:20  Teaching Bayesian Behaviours to Video Game Characters
Ronan Le Hy Anthony Arrigoni Pierre Bessi`ere Olivier Lebeltel
17:40  Towards Robot Intermodal Matching Using Spiking Neurons
Emachi Eneje & Yiannis Demiris

Wrap-up and Goodbye  ----  Aude Billard & Roland Siegwart

Program Chairs 

Aude Billard   &   Roland Siegwart

Autonomous Systems Lab
Swiss Federal Institute of Technology - EPFL
CH-1015 Lausanne, Switzerland
tel:  +41 (21) 693.54.64
fax: +41 (21) 693.78.06
email: aude.billard@epfl.ch

      Program Committee 



A hard copy of the workshop proceedings will be distributed at the Workshop  (Pdf File is 9Mb!)

A selected number of papers presented in this workshop will appear in a special issue of the Robotics and Autonomous Systems journal, to be published in Spring 2004.

Last update: 24/08/06