Unsupervised Motion Retargeting for Human-Robot Imitation
Louis Annabi,
Ziqi Ma,
Sao Mai Nguyen
Abstract:This early-stage research work aims to improve online humanrobot imitation by translating sequences of joint positions from the domain of human motions to a domain of motions achievable by a given robot, thus constrained by its embodiment. Leveraging the generalization capabilities of deep learning methods, we address this problem by proposing an encoder-decoder neural network model performing domain-to-domain translation. In order to train such a model, one could use pairs of associated robot and human motion… Show more
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