TY - GEN
T1 - Two-way translation of compound sentences and arm motions by recurrent neural networks
AU - Ogata, Tetsuya
AU - Murase, Masamitsu
AU - Tani, Jim
AU - Komatani, Kazunori
AU - Okuno, Hiroshi G.
PY - 2007/12/1
Y1 - 2007/12/1
N2 - We present a connectionist model that combines motions and language based on the behavioral experiences of a real robot. Two models of recurrent neural network with parametric bias (RNNPB) were trained using motion sequences and linguistic sequences. These sequences were combined using their respective parameters so that the robot could handle many-to-many relationships between motion sequences and linguistic sequences. Motion sequences were articulated into some primitives corresponding to given linguistic sequences using the prediction error of the RNNPB model. The experimental task in which a humanoid robot moved its arm on a table demonstrated that the robot could generate a motion sequence corresponding to given linguistic sequence even if the motions or sequences were not included in the training data, and vice versa.
AB - We present a connectionist model that combines motions and language based on the behavioral experiences of a real robot. Two models of recurrent neural network with parametric bias (RNNPB) were trained using motion sequences and linguistic sequences. These sequences were combined using their respective parameters so that the robot could handle many-to-many relationships between motion sequences and linguistic sequences. Motion sequences were articulated into some primitives corresponding to given linguistic sequences using the prediction error of the RNNPB model. The experimental task in which a humanoid robot moved its arm on a table demonstrated that the robot could generate a motion sequence corresponding to given linguistic sequence even if the motions or sequences were not included in the training data, and vice versa.
UR - http://www.scopus.com/inward/record.url?scp=51349107869&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349107869&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399265
DO - 10.1109/IROS.2007.4399265
M3 - Conference contribution
AN - SCOPUS:51349107869
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1858
EP - 1863
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -