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In this paper, we propose an active learning approach applied to a music performance imitation scenario. The humanoid robot iCub listens to a human performance and then incrementally learns to use a virtual musical instrument in order to imitate the given sequence. This is achieved by first learning a model of the instrument, needed to locate where the required sounds are heard in a virtual keyboard...
Nowadays robots are becoming more ubiquitous, and focus is increasingly put on the variety of tasks they can perform autonomously. However, due to the dynamics of the environment or the robot itself, sometimes the models that were learned in the past do not exactly fit in the present situation. Adaptation mechanisms are of key importance in this case since they enable the robot to reuse prior knowledge,...
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