Figure 7.

Structure of imitation learning. (A) The target system (left robot) produces image sequence (v*) from internal state sequence (y). The agent system (right robot) follows by mapping the image sequence (v*) to the memorized self-image of (v_i) whose internal action states x is known. The target’s visual sequence produces a sequence of internal action states in agent. The agent trains this sequence to build action sequences (z) and reproduces the action to real motor state u. (B) The agent sees visual images of target robot (up), and the motor state of the agent is derived from the image (down).