Publications by Florent Günter

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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 ...

As robots start pervading human environments, the need for new interfaces that would simplify human-robot interaction has become more pressing. Robot Programming by Demonstration (RbD) develops intuitive ways of programming robots, taking inspiration in st ...

A growing trend in humanoid robotics tend at reducing the size of humanoids in order to lower their building costs. While growing small has its advantages, it also has drawbacks. In particular, providing miniature humanoids with the same sensorimotor capabilities as their grown-up peers is a challenge, both in terms of mechanics, electronics and control. The Robota project creates humanoids, whose size should match that of a commercial doll, so that they can be used as part of experiments with autistic chil

This paper describes the Dof-Box, a modular, reconfigurable robot, used in Hands-on practicals of robotics taught to miroengineering students. We present the hardware and software of the robots and describe the pedagogical approach adopted in the practical ...

The goal of developing algorithms for programming robots by demonstration is to create an easy way of programming robots that can be accomplished by everyone. When a demonstrator teaches a task to a robot, he/she shows some ways of fulfilling the task, but not all the possibilities. The robot must then be able to reproduce the task even when unexpected perturbations occur. In this case, it has to learn a new solution. In this paper, we describe a system to teach to the robot constrained reaching tasks. Our

Humanoids remain luxurious robots, not easily purchasable or reproducible. The Robota project aims at building a low cost open humanoid platform, for use as educational tool for normal and disabled children. This paper reports on the mechanical design of a miniature 7 degrees of freedom articulated arm and of a miniature 3 degrees of freedom pair of eyes for Robota. We describe in details the mechanical construction, the electronic circuits and the control system, so that these could be easily duplicated by

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 ...

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 ...

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 ...

We present a system for robust robot skill acquisition from kinesthetic demonstrations. This system allows a robot to learn a simple goal-directed gesture, and correctly reproduce it despite changes in the initial conditions, and perturbations in the envir ...

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 ...

Our work aims at developing a robust discriminant controller for robot programming by demonstration. It addresses two core issues of imitation learning, namely "what to imitate" and "how to imitate". This paper presents a method by which a robot extracts t ...

Florent Günter

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

Using reinforcement learning for optimizing the reproduction of tasks in robot programming by demonstration

Development of a Miniature Pair of Eyes With Camera for the Humanoid Robot Robota

The Dof-Box Project: An Educational Kit for Configurable Robots

Reinforcement Learning for Imitating Constrained Reaching Movements

Development of a miniature articulated arm and pair of eyes for the humanoid robot Robota

Using Reinforcement Learning to Adapt an Imitation Task

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

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

Learning Dynamical System Modulation for Constrained Reaching Tasks

Dynamical System Modulation for Robot Learning via Kinesthetic Demonstrations

Design of a Biomimetic Upper Body for the Humanoid Robot Robota

Goal-Directed Imitation in a Humanoid Robot