Human action learning via Hidden Markov Model

Abstract

To successfully interact with and learn from humans in cooperative modes, robots need a mechanism for recognizing, characterizing, and emulating human skills. In particular, it is our interest to develop the mechanism for recognizing and emulating simple human actions, i.e., a simple activity in a manual operation where no sensory feedback is available. To this end, we have developed a method to model such actions using a hidden Markov model (HMM) representation. We proposed an approach to address two critical problems in action modeling: classifying human action-intent, and learning human skill, for which we elaborated on the method, procedure, and implementation issues in this paper. This work provides a framework for modeling and learning human actions from observations. The approach can be applied to intelligent recognition of manual actions and high-level programming of control input within a supervisory control paradigm, as well as automatic transfer of human skills to robotic systems.