相关论文: Assistive Teaching of Motor Control Tasks to Human…

Motor skill learning often requires experienced professionals who can provide personalized instruction. Unfortunately, the availability of high-quality training can be limited for specialized tasks, such as high performance racing. Several…

Motor skills, especially fine motor skills like handwriting, play an essential role in academic pursuits and everyday life. Traditional methods to teach these skills, although effective, can be time-consuming and inconsistent. With the rise…

Learning motor skills for sports or performance driving is often done with professional instruction from expert human teachers, whose availability is limited. Our goal is to enable automated teaching via a learned model that interacts with…

Advanced driver assistance systems have successfully reduced drivers' workloads and increased safety. On the other hand, the excessive use of such systems can impede the development of driving skills. However, there exist collaborative…

Human-AI shared control allows human to interact and collaborate with AI to accomplish control tasks in complex environments. Previous Reinforcement Learning (RL) methods attempt the goal-conditioned design to achieve human-controllable…

Learning preferences implicit in the choices humans make is a well studied problem in both economics and computer science. However, most work makes the assumption that humans are acting (noisily) optimally with respect to their preferences.…

Living a self-determined life independent of human caregivers or fully autonomous robots is a crucial factor for human dignity and the preservation of self-worth for people with motor impairments. Assistive robotic solutions - particularly…

Learning a robot motor skill from scratch is impractically slow; so much so that in practice, learning must be bootstrapped using a good skill policy obtained from human demonstration. However, relying on human demonstration necessarily…

Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…

Shared autonomy holds promise for improving the usability and accessibility of assistive robotic arms, but current methods often rely on costly expert demonstrations and remain static after pretraining, limiting their ability to handle…

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…

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…

Real-time collaboration with humans poses challenges due to the different behavior patterns of humans resulting from diverse physical constraints. Existing works typically focus on learning safety constraints for collaboration, or how to…

Assistive Robotics is a class of robotics concerned with aiding humans in daily care tasks that they may be inhibited from doing due to disabilities or age. While research has demonstrated that classical control methods can be used to…

AI-supported tools can help learners overcome challenges in programming education by providing adaptive assistance. However, existing research often focuses on individual tools rather than deriving broader design recommendations. A key…

Reinforcement learning systems have the potential to enable continuous improvement in unstructured environments, leveraging data collected autonomously. However, in practice these systems require significant amounts of instrumentation or…

Assistive technologies and in particular assistive robotic arms have the potential to enable people with motor impairments to live a self-determined life. More and more of these systems have become available for end users in recent years,…

Humanoid robotics has strong potential to transform daily service and caregiving applications. Although recent advances in general motion tracking within physics engines (GMT) have enabled virtual characters and humanoid robots to reproduce…

Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…

Assistive robot arms can help humans by partially automating their desired tasks. Consider an adult with motor impairments controlling an assistive robot arm to eat dinner. The robot can reduce the number of human inputs -- and how precise…