相关论文: What Can This Robot Do? Learning from Appearance a…

Robots come in various forms and have different characteristics that may shape the interaction with them. In human-human interactions, height is a characteristic that shapes human dynamics, with taller people typically perceived as more…

We introduce a novel paradigm for robot pro- gramming with which we aim to make robot programming more accessible for unexperienced users. In order to do so we incorporate two major components in one single framework: autonomous skill…

Robots can learn the right reward function by querying a human expert. Existing approaches attempt to choose questions where the robot is most uncertain about the human's response; however, they do not consider how easy it will be for the…

The overarching goal of this work is to efficiently enable end-users to correctly anticipate a robot's behavior in novel situations. Since a robot's behavior is often a direct result of its underlying objective function, our insight is that…

Assistive robots have the potential to help people perform everyday tasks. However, these robots first need to learn what it is their user wants them to do. Teaching assistive robots is hard for inexperienced users, elderly users, and users…

We consider the problem of third-person imitation learning with the additional challenge that the learner must select the perspective from which they observe the expert. In our setting, each perspective provides only limited information…

Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…

A large body of compelling evidence has been accumulated demonstrating that embodiment - the agent's physical setup, including its shape, materials, sensors and actuators - is constitutive for any form of cognition and as a consequence,…

Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…

Much work in robotics has focused on "human-in-the-loop" learning techniques that improve the efficiency of the learning process. However, these algorithms have made the strong assumption of a cooperating human supervisor that assists the…

Humanoid robots have received significant research interests and advancements in recent years. Despite many successes, due to their morphology, dynamics and limitation of control policy, humanoid robots are prone to fall as compared to…

Posture control and balance are basic requirements for a humanoid robot performing motor tasks like walking and interacting with the environment. For this reason, posture control is one of the elements taken into account when evaluating the…

As robots enter human environments, they will be expected to accomplish a tremendous range of tasks. It is not feasible for robot designers to pre-program these behaviors or know them in advance, so one way to address this is through…

Learning from demonstrations is a promising paradigm for transferring knowledge to robots. However, learning mobile manipulation tasks directly from a human teacher is a complex problem as it requires learning models of both the overall…

Imitation learning allows agents to learn complex behaviors from demonstrations. However, learning a complex vision-based task may require an impractical number of demonstrations. Meta-imitation learning is a promising approach towards…

Human gaze is known to be a strong indicator of underlying human intentions and goals during manipulation tasks. This work studies gaze patterns of human teachers demonstrating tasks to robots and proposes ways in which such patterns can be…

We propose to make the physical characteristics of a robot oscillate while it learns to improve its behavioral performance. We consider quantities such as mass, actuator strength, and size that are usually fixed in a robot, and show that…

During human-robot interaction (HRI), we want the robot to understand us, and we want to intuitively understand the robot. In order to communicate with and understand the robot, we can leverage interactions, where the human and robot…

Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…

Safe human-robot interactions require robots to be able to learn how to behave appropriately in \sout{humans' world} \rev{spaces populated by people} and thus to cope with the challenges posed by our dynamic and unstructured environment,…