Related papers: Cycle-of-Learning for Autonomous Systems from Huma…

In recent years, control under urban intersection scenarios becomes an emerging research topic. In such scenarios, the autonomous vehicle confronts complicated situations since it must deal with the interaction with social vehicles timely…

This paper explores the concept of engagement, the process by which individuals in an interaction start, maintain and end their perceived connection to one another. The paper reports on one aspect of engagement among human interactors--the…

Human-centered AI workflows involve stakeholders with multiple roles interacting with each other and automated agents to accomplish diverse tasks. In this paper, we call for a holistic view when designing support mechanisms, such as…

Simulation-based reinforcement learning (RL) has significantly advanced humanoid locomotion tasks, yet direct real-world RL from scratch or adapting from pretrained policies remains rare, limiting the full potential of humanoid robots.…

Explainable AI techniques that describe agent reward functions can enhance human-robot collaboration in a variety of settings. One context where human understanding of agent reward functions is particularly beneficial is in the value…

To facilitate natural and intuitive interactions with diverse user groups in real-world settings, social robots must be capable of addressing the varying requirements and expectations of these groups while adapting their behavior based on…

The effectiveness of human-robot interaction often hinges on the ability to cultivate engagement - a dynamic process of cognitive involvement that supports meaningful exchanges. Many existing definitions and models of engagement are either…

Deep reinforcement learning has proven to be a great success in allowing agents to learn complex tasks. However, its application to actual robots can be prohibitively expensive. Furthermore, the unpredictability of human behavior in…

Leveraging Artificial Intelligence (AI) in decision support systems has disproportionately focused on technological advancements, often overlooking the alignment between algorithmic outputs and human expectations. A human-centered…

In this paper, we propose a framework that enables a human teacher to shape a robot behaviour by interactively providing it with unlabeled instructions. We ground the meaning of instruction signals in the task-learning process, and use them…

In the field of Human-Robot Interaction (HRI), a fundamental challenge is to facilitate human understanding of robots. The emerging domain of eXplainable HRI (XHRI) investigates methods to generate explanations and evaluate their impact on…

A long-term goal of reinforcement learning agents is to be able to perform tasks in complex real-world scenarios. The use of external information is one way of scaling agents to more complex problems. However, there is a general lack of…

We demonstrate that a wide array of machine learning algorithms are specific instances of one single paradigm: reciprocal learning. These instances range from active learning over multi-armed bandits to self-training. We show that all these…

Active learning is a decision-making process. In both abstract and physical settings, active learning demands both analysis and action. This is a review of active learning in robotics, focusing on methods amenable to the demands of embodied…

Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…

Generating robot motion that fulfills multiple tasks simultaneously is challenging due to the geometric constraints imposed by the robot. In this paper, we propose to solve multi-task problems through learning structured policies from human…

Learning from Demonstration (LfD) offers a promising paradigm for robot skill acquisition. Recent approaches attempt to extract manipulation commands directly from video demonstrations, yet face two critical challenges: (1) general video…

Transfer learning is a conceptually-enticing paradigm in pursuit of truly intelligent embodied agents. The core concept -- reusing prior knowledge to learn in and from novel situations -- is successfully leveraged by humans to handle novel…

People can learn a wide range of tasks from their own experience, but can also learn from observing other creatures. This can accelerate acquisition of new skills even when the observed agent differs substantially from the learning agent in…

The success of the human-robot co-worker team in a flexible manufacturing environment where robots learn from demonstration heavily relies on the correct and safe operation of the robot. How this can be achieved is a challenge that requires…