From visuo-motor self learning to early imitation -a neural architecture for humanoid learning

Bchavior imitation ability will he a key technology for future human friendly robots. In order to understand the principles and mechanisms of imitation, we take B synthet,ic cognitive developmental approach, starting with minimum components and create a system that can learn to imitate others. We developed a visuomotor neural learning system which consists of orientation selective visual movement representation, distributed arm movement representation, and a high-dimensional temporal sequence lcarning mechanism. The vision and the movement representations model the findings in primate brain, i.e. macaque area MT(or human area V5) and the primary motor area. The learning mechanism is insipired by the finding that there are excessive connections in neonate brain. As our robot explores the visuo-motor self movement patterns, it learns coherent patterns as highdimensional trajectory attractors. After the learning, a human comes in front of the robot showing arm movements which are similar to the ones in self learning. Although the robot has never seen or programmed to interpret human a m movement, and the detail of visual stimuli are very different, the robot identifies some of the patterns as similar to those in self learning, and responded by generating the previously learned arm movement. In other words, the robot exhibits early imitation ability based on sclf exploratory learning.