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interactions, the robot motion is generated based on the
observed human activity. With the human activity considered
as a task parameter query, these methods also learn a mapping from the task to MP parameters. However, unlike the
MDN, which directly learns this mapping, these approaches
learn a generative model. In the future, we will explore the use
of our proposed method for human-robot interaction tasks
and compare these methods.
For the sampling strategy, selecting the most probable
mode already solves many tasks. However, for some other
tasks, the suggested method needs multiple samples to achieve
better performance, such as that described in the "The Hitthe-Ball Experiment in MuJoCo" section. This fact requires
multiple robot trials for each task parameter query. To solve
this problem, we consider either using reinforcement learning
to refine the mean vector given by the trained MDN with a
small number of trials, as in [22], or training a discriminator
that can predict success or failure based on both task and
MP parameters.
Acknowledgments
The research leading to these results received funding from the
German Federal Ministry of Education and Research under
the project Organic Machine Learning (01IS18040A) and the
European Union Horizon 2020 Research and Innovation program under grant agreement 643950 (SecondHands). We
would like to thank Jonas Rothfuss for the fruitful discussions.
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You Zhou, Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Germany. E-mail: you.zhou@
kit.edu.
Jianfeng Gao, Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Germany. E-mail: jianfeng
.gao@kit.edu.
Tamim Asfour, Institute for Anthropomatics and Robotics,
Karlsruhe Institute of Technology, Germany. E-mail: asfour@
kit.edu.


http://asfour@kit.edu http://asfour@kit.edu

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