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Aude Billard

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Related publications (263)

On Learning, Representing and Generalizing a Task in a Humanoid Robot

Aude Billard, Sylvain Calinon, Florent Günter

We present a Programming by Demonstration (PbD) framework for generically extracting the relevant features of a given task and for addressing the problem of generalizing the acquired knowledge to different contexts. We validate the architecture through a s ...

2007

Analysis of Head Mounted Wireless Camera Videos for Early Diagnosis of Autism

Jean-Philippe Thiran, Aude Billard, Basilio Noris, Julien Meynet

In this paper we present a computer based approach to analysis of social interaction experiments for the diagnosis of autism spectrum disorders in young children of 6-18 months of age. We apply face detection on videos from a head-mounted wireless camera t ...

Springer-Verlag2007

Learning Dynamical System Modulation for Constrained Reaching Tasks

Micha Hersch, Aude Billard, Sylvain Calinon, Florent Günter

In this paper we combine kinesthetic demonstrations and dynamical systems to enable a humanoid robot to imitate constrained reaching gestures directed toward a target. Using a learning algorithm based on Gaussian Mixture Regression, the task constraints ar ...

2006

An attention framework for learning by interaction in developmental embodied agents

Aude Billard

2006

Attention mechanisms for the imitation of goal-directed action in developmental robots

Aude Billard

2006

A Neurocomputational Model of an Imitation Deficit following Brain Lesion

Aude Billard, Biljana Petreska von Ritter-Zahony

This paper investigates the neural mechanisms of visuo-motor imitation in humans through convergent evidence from neuroscience. In particular, we consider a deficit in imitation following callosal brain lesion, based on the rational that looking at how imi ...

2006

Teaching a Humanoid Robot to Recognize and Reproduce Social Cues

Aude Billard, Sylvain Calinon

In a Robot Programming by Demonstration framework, several demonstrations of a task are required to generalize and reproduce the task under different circumstances. To teach a task to the robot, explicit pointers are required to signal the start/end of a d ...

2006

Parallel and Distributed Neural Models of the Ideomotor Principle: An Investigation of Imitative Cortical Pathways

Aude Billard, Eric Sauser

Humans’ capacity to imitate has been extensively investigated through a wide-range of behavioral and developmental studies. Yet, despite the huge amount of phenomenological evidence gathered, we are still unable to relate this behavioral data to any specif ...

2006

Discriminative and Adaptive Imitation in Uni-Manual and Bi-Manual Tasks

Aude Billard, Sylvain Calinon, Florent Günter

This paper addresses the problems of what to imitate and how to imitate in simple uni- and bi-manual manipulatory tasks. To solve the what to imitate issue, we use a probabilistic method, based on Hidden Markov Models, for extracting the relative importanc ...

Elsevier2006

A Model for Imitating Human Reaching Movements

Micha Hersch, Aude Billard

We present a model of human-like reaching movements. This model is then used to give a humanoid robot the ability to imitate human reaching motions. It illustrates that having a robot control similar to human control can greatly ease the human-robot intera ...

2006

Biologically Inspired Multimodal Integration: Interferences in a Human-Robot Interaction Game

Aude Billard, Eric Sauser

This paper presents a biologically inspired approach to multimodal integration and decision-making in the context of human-robot interactions. More specifically, we address the principle of ideomotor compatibility by which observing the movements of others ...

2006

A Biologically-Inspired Model of Reaching Movements

Micha Hersch, Aude Billard

This paper presents a robotic arm controller for reaching motions. This controller applies two principles inspired by current theories of human reaching motions, namely the multi-referential control of movements and the dynamical system approach to biologi ...

2006

On Learning the Statistical Representation of a Task and Generalizing it to Various Contexts

Aude Billard, Sylvain Calinon, Florent Günter

This paper presents an architecture for solving generically the problem of extracting the relevant features of a given task in a programming by demonstration framework and the problem of generalizing the acquired knowledge to various contexts. We validate ...

2006

Dynamic Updating of Distributed Neural Representations using Forward Models

Aude Billard, Eric Sauser

In this paper, we present a continuous attractor network model, which we hypothesize will give some suggestion of the mechanisms underlying several neural processes, such as velocity tuning to visual stimulus, sensory discrimination, sensorimotor-transform ...

2006

Extended Hopfield Network for Sequence Learning: Application to Gesture Recognition

Micha Hersch, Aude Billard, André Maurer

In this paper, we extend the Hopfield Associative Memory for storing multiple sequences of varying duration. We apply the model for learning, recognizing and encoding a set of human gestures. We measure systematically the performance of the model against n ...

2005

Design of a Biomimetic Upper Body for the Humanoid Robot Robota

André Guignard, Aude Billard, Florent Günter

This paper presents the current prototype of doll-shaped humanoid robot Robota. The use of the robot Robota as part of studies with disabled children sets a number of constraints on its design. In particular, it requires that the robot bears a human likene ...

2005

Three Dimensional Frames of References Transformations using Recurrent Populations of Neurons

Aude Billard, Eric Sauser

This work investigates whether population vector coding, a distributed computational paradigm, could be a principle mechanism for performing sensorimotor and frames of reference transformations. This paper presents a multilayer neural network that can perf ...

2005

View Sensitive Cells as a Neural Basis for the Representation of Others in a Self-Centered Frame of Reference

Aude Billard, Eric Sauser

This work follows from a research project, in which we investigate the underlying mechanisms of human imitation and develop a neural model of its core neural circuits. The present paper presents a model of a neural mechanism by which an imitator agent can ...

2005

Neural Model of the Transformation from Allo-centric to Ego- centric Representation of Motions

Aude Billard, Eric Sauser

2005

Recognition and Reproduction of Gestures using a Probabilistic Framework combining PCA, ICA and HMM

Aude Billard, Sylvain Calinon

This paper explores the issue of recognizing, generalizing and reproducing arbitrary gestures. We aim at extracting a representation that encapsulates only the key aspects of the gesture and discards the variability intrinsic to each person's motion. We co ...

2005

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