Learning and Reproduction of Gestures by Imitation

An implementation of the paper Learning and Reproduction of Gestures by imitation from Calinon et al. The algorithm proposed in the paper is tested on the Baxter Robot using rai for control.

The presentation and the code is located in this jupyter notebook.

Setup

Running the notebook needs a few initial steps to set up all dependencies. First, install ROS melodic: http://wiki.ros.org/melodic/Installation/Ubuntu

Initialize and clone submodules:

git submodule init
git submodule update

Download and compile baxter source files:

cd external/
./installBaxterSources.sh
cd ..

Install additional ubuntu packages needed for rai compilation:

make installUbuntuAll

Compile rai:

make

Install pbdlib-python as pip package:

pip install git+https://github.com/marctuscher/pbdlib

Note: if you also want to run the additional material about HMMs, install hmms as pip package:

pip install git+https://github.com/marctuscher/HMMs

Running

Just run

jupyter notebook

from the repo's root directory.

Presentation

Viewing the notebook as a proper presentation relies on https://github.com/damianavila/RISE/. Follow the instructions in the documentation to install it.

References

• https://www.idiap.ch/~scalinon/papers/Calinon-RAM2010.pdf
• https://gitlab.idiap.ch/rli/pbdlib-python
• https://github.com/MarcToussaint/rai
• https://github.com/damianavila/RISE/