相关论文: Can User-Centered Reinforcement Learning Allow a R…

We investigate robotic assistants for dressing that can anticipate the motion of the person who is being helped. To this end, we use reinforcement learning to create models of human behavior during assistance with dressing. To explore this…

Achieving social acceptance is one of the main goals of Social Robotic Navigation. Despite this topic has received increasing interest in recent years, most of the research has focused on driving the robotic agent along obstacle-free…

Socially assistive robots are increasingly being used to support the social, cognitive, and physical well-being of those who provide care (healthcare professionals) and those in need of care (older adults). However, the effectiveness of…

One of the biggest hurdles robotics faces is the facet of sophisticated and hard-to-engineer behaviors. Reinforcement learning offers a set of tools, and a framework to address this problem. In parallel, the misgivings of robotics offer a…

In this paper we introduce a novel approach that enables users to interact with a mobile robot in a natural manner. The proposed interaction system does not require any specific infrastructure or device, but relies on commonly utilized…

This paper introduces a novel neural network-based reinforcement learning approach for robot gaze control. Our approach enables a robot to learn and to adapt its gaze control strategy for human-robot interaction neither with the use of…

Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…

Grasping by a robot in unstructured environments is deemed a critical challenge because of the requirement for effective adaptation to a wide variation in object geometries, material properties, and other environmental factors. In this…

In this paper, we report on a field study in which we employed two service robots in a bakery store as a sales promotion. Previous studies have explored public applications of service robots public such as shopping malls. However, more…

To enhance human-robot social interaction, it is essential for robots to process multiple social cues in a complex real-world environment. However, incongruency of input information across modalities is inevitable and could be challenging…

Robot learning provides a number of ways to teach robots simple skills, such as grasping. However, these skills are usually trained in open, clutter-free environments, and therefore would likely cause undesirable collisions in more complex,…

Apart from the coherence and fluency of responses, an empathetic chatbot emphasizes more on people's feelings. By considering altruistic behaviors between human interaction, empathetic chatbots enable people to get a better interactive and…

Representation learning and unsupervised skill discovery can allow robots to acquire diverse and reusable behaviors without the need for task-specific rewards. In this work, we use unsupervised reinforcement learning to learn a latent…

We investigate the problem of teaching a robot manipulator to perform dynamic non-prehensile object transport, also known as the `robot waiter' task, from a limited set of real-world demonstrations. We propose an approach that combines…

With the increasing presence of robotic systems and human-robot environments in today's society, understanding the reasoning behind actions taken by a robot is becoming more important. To increase this understanding, users are provided with…

Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…

Robots in many real-world settings have access to force/torque sensors in their gripper and tactile sensing is often necessary in tasks that involve contact-rich motion. In this work, we leverage surprise from mismatches in touch feedback…

Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing. Local…

Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…

People employ expressive behaviors to effectively communicate and coordinate their actions with others, such as nodding to acknowledge a person glancing at them or saying "excuse me" to pass people in a busy corridor. We would like robots…