相关论文: Learn and Transfer Knowledge of Preferred Assistan…

Reward engineering is one of the key challenges in Reinforcement Learning (RL). Preference-based RL effectively addresses this issue by learning from human feedback. However, it is both time-consuming and expensive to collect human…

It is intractable for assistive robots to have all functionalities pre-programmed prior to deployment. Rather, it is more realistic for robots to perform supplemental, on-site learning about user's needs and preferences, and particularities…

This paper presents a novel learning-based approach to dynamic robot-to-human handover, addressing the challenges of delivering objects to a moving receiver. We hypothesize that dynamic handover, where the robot adjusts to the receiver's…

Humans naturally develop preferences for how manipulation tasks should be performed, which are often subtle, personal, and difficult to articulate. Although it is important for robots to account for these preferences to increase…

Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…

As robots are increasingly deployed in real-world scenarios, a key question is how to best transfer knowledge learned in one environment to another, where shifting constraints and human preferences render adaptation challenging. A central…

Learning from human demonstration is an effective approach for learning complex manipulation skills. However, existing approaches heavily focus on learning from passive human demonstration data for its simplicity in data collection.…

Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform…

Future service robots working in human environments, such as kitchens, will face situations where they need to improvise. The usual tool for a given task might not be available and the robot will have to use some substitute tool. The robot…

Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths, while enabling personalized execution of a task. However, for new soft robots with degrees of freedom dissimilar to those of human operators, it is…

Self-handover, transferring an object between one's own hands, is a common but understudied bimanual action. While it facilitates seamless transitions in complex tasks, the strategies underlying its execution remain largely unexplored.…

This paper presents a teleoperation system that includes robot perception and intent prediction from hand gestures. The perception module identifies the objects present in the robot workspace and the intent prediction module which object…

Preference learning in Large Language Models (LLMs) has advanced significantly, yet existing methods remain limited by modest performance gains, high computational costs, hyperparameter sensitivity, and insufficient modeling of global…

Despite the fact that robotic platforms can provide both consistent practice and objective assessments of users over the course of their training, there are relatively few instances where physical human robot interaction has been…

Preference-based reinforcement learning (PbRL) shows promise in aligning robot behaviors with human preferences, but its success depends heavily on the accurate modeling of human preferences through reward models. Most methods adopt…

In preference-based Reinforcement Learning (RL), obtaining a large number of preference labels are both time-consuming and costly. Furthermore, the queried human preferences cannot be utilized for the new tasks. In this paper, we propose…

Smart assistants increasingly act proactively, yet mistimed or intrusive behavior often causes users to lose trust and disable these features. Learning user preferences for proactive assistance is difficult because real-world studies are…

In this paper, we present a semi-autonomous teleoperation framework for a pick-and-place task using an RGB-D sensor. In particular, we assume that the target object is located in a cluttered environment where both prehensile grasping and…

Robots operating alongside humans often encounter unfamiliar environments that make autonomous task completion challenging. Though improving models and increasing dataset size can enhance a robot's performance in unseen environments, data…

Intent inferral, the process by which a robotic device predicts a user's intent from biosignals, offers an effective and intuitive way to control wearable robots. Classical intent inferral methods treat biosignal inputs as unidirectional…