Related papers: First Contact: Unsupervised Human-Machine Co-Adapt…
When deploying autonomous agents in the real world, we need effective ways of communicating objectives to them. Traditional skill learning has revolved around reinforcement and imitation learning, each with rigid constraints on the format…
Interactive reinforcement learning has shown promise in learning complex robotic tasks. However, the process can be human-intensive due to the requirement of a large amount of interactive feedback. This paper presents a new method that uses…
Achieving seamless coordination in cooperative games is a crucial challenge in artificial intelligence, particularly when players operate under incomplete information. While communication helps, it is not always feasible. In this paper, we…
Recent advancements in \textit{Learning from Human Feedback} present an effective way to train robot agents via inputs from non-expert humans, without a need for a specially designed reward function. However, this approach needs a human to…
In this paper, we investigate how to design an effective interface for remote multi-human multi-robot interaction. While significant research exists on interfaces for individual human operators, little research exists for the multi-human…
The human-machine interface is of critical importance for master-slave control of the robotic system for surgery, in which current systems offer the control or two robotic arms teleoperated by the surgeon's hands. To relax the need for…
Communication between humans and artificial agents is essential for their interaction. This is often inspired by human communication, which uses gestures, facial expressions, gaze direction, and other explicit and implicit means. This work…
Reactions such as gestures, facial expressions, and vocalizations are an abundant, naturally occurring channel of information that humans provide during interactions. A robot or other agent could leverage an understanding of such implicit…
Assistive robotic devices can increase the independence of individuals with motor impairments. However, each person is unique in their level of injury, preferences, and skills, which moreover can change over time. Further, the amount of…
Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance.…
We present a customizable soft haptic system that integrates modular hardware with an information-theoretic algorithm to personalize feedback for different users and tasks. Our platform features modular, multi-degree-of-freedom pneumatic…
Shared autonomy teleoperation can guarantee safety, but does so by reducing the human operator's control authority, which can lead to reduced levels of human-robot agreement and user satisfaction. This paper presents a novel haptic shared…
The growing interest in language-conditioned robot manipulation aims to develop robots capable of understanding and executing complex tasks, with the objective of enabling robots to interpret language commands and manipulate objects…
Synergies have been adopted in prosthetic limb applications to reduce complexity of design, but typically involve a single synergy setting for a population and ignore individual preference or adaptation capacity. However, personalization of…
This paper contributes a preliminary report on the advantages and disadvantages of incorporating simultaneous human control and feedback signals in the training of a reinforcement learning robotic agent. While robotic human-machine…
Assistive agents should make humans' lives easier. Classically, such assistance is studied through the lens of inverse reinforcement learning, where an assistive agent (e.g., a chatbot, a robot) infers a human's intention and then selects…
Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…
This article presents an implementation of a natural-language speech interface and a haptic feedback interface that enables a human supervisor to provide guidance to, request information, and receive status updates from a Spot robot. We…
Mutual adaptation can significantly enhance overall task performance in human-robot co-transportation by integrating both the robot's and human's understanding of the environment. While human modeling helps capture humans' subjective…
This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…