Imperial College London

Professor Yiannis Demiris

Faculty of EngineeringDepartment of Electrical and Electronic Engineering

Professor of Human-Centred Robotics, Head of ISN



+44 (0)20 7594 6300y.demiris Website




1014Electrical EngineeringSouth Kensington Campus






BibTex format

author = {Zambelli, M and Fischer, T and Petit, M and Chang, HJ and Cully, A and Demiris, Y},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
title = {Towards Anchoring Self-Learned Representations to Those of Other Agents},
url = {},
year = {2016}

RIS format (EndNote, RefMan)

AB - In the future, robots will support humans in their every day activities. One particular challenge that robots will face is understanding and reasoning about the actions of other agents in order to cooperate effectively with humans. We propose to tackle this using a developmental framework, where the robot incrementally acquires knowledge, and in particular 1) self-learns a mapping between motor commands and sensory consequences, 2) rapidly acquires primitives and complex actions by verbal descriptions and instructions from a human partner, 3) discoverscorrespondences between the robots body and other articulated objects and agents, and 4) employs these correspondences to transfer the knowledge acquired from the robots point of view to the viewpoint of the other agent. We show that our approach requires very little a-priori knowledge to achieve imitation learning, to find correspondent body parts of humans, and allows taking the perspective of another agent. This represents a step towards the emergence of a mirror neuron like system based on self-learned representations.
AU - Zambelli,M
AU - Fischer,T
AU - Petit,M
AU - Chang,HJ
AU - Cully,A
AU - Demiris,Y
PB - Institute of Electrical and Electronics Engineers (IEEE)
PY - 2016///
TI - Towards Anchoring Self-Learned Representations to Those of Other Agents
UR -
ER -