相关论文: Learning to Communicate Functional States with Non…

We propose a new Verbal Reinforcement Learning (VRL) framework for interpretable task-level planning in mobile robotic systems operating under execution uncertainty. The framework follows a closed-loop architecture that enables iterative…

Existing navigation policies for autonomous robots tend to focus on collision avoidance while ignoring human-robot interactions in social life. For instance, robots can pass along the corridor safer and easier if pedestrians notice them.…

Although deep reinforcement learning has recently been very successful at learning complex behaviors, it requires a tremendous amount of data to learn a task. One of the fundamental reasons causing this limitation lies in the nature of the…

In human-robot collaborative interaction scenarios, nonverbal communication plays an important role. Both, signals sent by a human collaborator need to be identified and interpreted by the robotic system, and the signals sent by the robot…

This paper contributes a first study into how different human users deliver simultaneous control and feedback signals during human-robot interaction. As part of this work, we formalize and present a general interactive learning framework…

Effective human-robot collaboration requires robot to adopt their roles and levels of support based on human needs, task requirements, and complexity. Traditional human-robot teaming often relies on a pre-determined robot communication…

In this paper we present Meeting Bot, a reinforcement learning based conversational system that interacts with multiple users to schedule meetings. The system is able to interpret user utterences and map them to preferred time slots, which…

As social robots get more deeply integrated intoour everyday lives, they will be expected to engage in meaningful conversations and exhibit socio-emotionally intelligent listening behaviors when interacting with people. Active listening and…

This study proposes a novel imitation learning approach for the stochastic generation of human-like rhythmic wave gestures and their modulation for effective non-verbal communication through a probabilistic formulation using joint angle…

How should a robot speak in a formal, quiet and dark, or a bright, lively and noisy environment? By designing robots to speak in a more social and ambient-appropriate manner we can improve perceived awareness and intelligence for these…

Speakers build rapport in the process of aligning conversational behaviors with each other. Rapport engendered with a teachable agent while instructing domain material has been shown to promote learning. Past work on lexical alignment in…

Communication is not only an action of choosing a signal, but needs to consider the context and sensor signals. It also needs to decide what information is communicated and how it is represented in or understood from signals. Therefore,…

Reinforcement learning (RL) is a powerful approach for robot learning. However, model-free RL (MFRL) requires a large number of environment interactions to learn successful control policies. This is due to the noisy RL training updates and…

Human emotions are expressed through multiple modalities, including verbal and non-verbal information. Moreover, the affective states of human users can be the indicator for the level of engagement and successful interaction, suitable for…

Recent research has demonstrated the potential of reinforcement learning (RL) in enabling effective multi-robot collaboration, particularly in social dilemmas where robots face a trade-off between self-interests and collective benefits.…

Model-free or learning-based control, in particular, reinforcement learning (RL), is expected to be applied for complex robotic tasks. Traditional RL requires a policy to be optimized is state-dependent, that means, the policy is a kind of…

Real-world reinforcement learning (RL) environments, whether in robotics or industrial settings, often involve non-visual observations and require not only efficient but also reliable and thus interpretable and flexible RL approaches. To…

Many real-world applications require an agent to make robust and deliberate decisions with multimodal information (e.g., robots with multi-sensory inputs). However, it is very challenging to train the agent via reinforcement learning (RL)…

Reinforcement Learning (RL) plays an important role in the robotic manipulation domain since it allows self-learning from trial-and-error interactions with the environment. Still, sample efficiency and reward specification seriously limit…

We introduce Vocal Sandbox, a framework for enabling seamless human-robot collaboration in situated environments. Systems in our framework are characterized by their ability to adapt and continually learn at multiple levels of abstraction…