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Teaching robots to imitate a human with no on-teacher sensors. What are the key challenges? [article]

Radoslav Skoviera, Karla Stepanova, Michael Tesar, Gabriela Sejnova, Jiri Sedlar, Michal Vavrecka, Robert Babuska, Josef Sivic
2019 arXiv   pre-print
We highlight the key challenges in capturing sufficiently good data with no tracking devices - starting from sensor selection and accurate 6DoF pose estimation to natural language processing.  ...  We also present the whole architecture of our transfer of the imitated task to the simulated and real robot environment.  ...  Remote teaching typically includes various on-teacher sensors. Argall et al. [3] tried to use only sensors on the robot to mimic human behavior.  ... 
arXiv:1901.08335v1 fatcat:nizj3a4fwzbk7dscdsyccmikfm

HCI challenges in Dance Education

K.El Raheb, A. Katifori, Y. Ioannidis
2016 EAI Endorsed Transactions on Ambient Systems  
In this paper, we present the characteristics of dance teaching and learning in relation to interactive technology and we highlight the points/feedback that dance, as a field of mastering expressive movement  ...  Nevertheless the use of interactive technologies to support dance learning and education is still relatively immature and raises many challenges and interesting questions when it comes to choosing the  ...  This work has been held in the context of the H2020 EU funded project WhoLoDancE ( and includes some outcomes of the collective efforts of all partners.  ... 
doi:10.4108/eai.23-8-2016.151642 fatcat:qzagkmbe5ja2jncmzvsmk2ykeu

A survey on the use of humanoid robots in primary education: Prospects, research challenges and future research directions

Gurkan Tuna, Ayse Tuna, Emine Ahmetoglu, Hilmi Kuscu
2019 Cypriot Journal of Educational Sciences  
In parallel with the significant and exciting advancements in robot technologies, the use of humanoid robots to support teaching strategies and learning goals has become a popular topic.  ...  In this paper, limitations and challenges of the use of humanoid robots as teaching assistants are presented in addition to exploring the relationship between humanoid robots and performance in learning  ...  Acknowledgements This work was supported by the Research Fund of Trakya University. Project Number: 2017/132.  ... 
doi:10.18844/cjes.v14i3.3291 fatcat:q2xmslhgjzhldgbpytnkqhwj5u

Teaching Music to Children with Autism: A Social Robotics Challenge

Alireza Taheri, Ali Meghdari, Minoo Alemi, Hamidreza Pouretemad
2017 Scientia Iranica. International Journal of Science and Technology  
Utilizing a humanoid social robot to systematically teach music to children with autism has not received wide attention to date.  ...  In this study, a novel robot-assisted music-based scenario has been designed in order to: 1) teach fundamentals of music via a xylophone-/drum-player robot as a teacher assistant, and 2) improve social  ...  d) what is the acceptability of having a robot as a co-teacher in music education for the human therapists?  ... 
doi:10.24200/sci.2017.4608 fatcat:d54aq5ajprc45dxfoudazaa3he

Pragmatic Frames for Teaching and Learning in Human–Robot Interaction: Review and Challenges

Anna-Lisa Vollmer, Britta Wrede, Katharina J. Rohlfing, Pierre-Yves Oudeyer
2016 Frontiers in Neurorobotics  
One of the big challenges in robotics today is to learn from human users that are inexperienced in interacting with robots but yet are often used to teach skills flexibly to other humans and to children  ...  To conclude, we give an outlook on the future research direction describing the relevant key challenges that need to be solved for leveraging pragmatic frames for robot learning and teaching.  ...  This research was partially supported by the Cluster of Excellence Cognitive Interaction Technology "CITEC" (EXC 277) at Bielefeld University, which is funded by the German Research Foundation (DFG).  ... 
doi:10.3389/fnbot.2016.00010 pmid:27752242 pmcid:PMC5046941 fatcat:kefwavdem5didnxue4yaaehuf4

The challenges ahead for bio-inspired 'soft' robotics

Rolf Pfeifer, Max Lungarella, Fumiya Iida
2012 Communications of the ACM  
with humans, for example, where humans could teach tasks to robots by demonstration.  ...  robot bodies were completely different from the ones of the teacher (humans).  ... 
doi:10.1145/2366316.2366335 fatcat:lsbmgjwbyfeolkctdppazq5neu

Social Cognition for Human-Robot Symbiosis—Challenges and Building Blocks

Giulio Sandini, Vishwanathan Mohan, Alessandra Sciutti, Pietro Morasso
2018 Frontiers in Neurorobotics  
This will require to trade-off speed and positional accuracy (the main goal of human-less robotics) with time-scales that are consistent with human behavior, focusing also on what has been defined as '  ...  In order to bootstrap the teaching/learning process we must assume that the human teacher and the robot learner share a finite vocabulary of primitive shapes or graphemes and similar mechanisms for analysis  ...  Conflict of Interest Statement: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest  ... 
doi:10.3389/fnbot.2018.00034 pmid:30050425 pmcid:PMC6051162 fatcat:3fgxxwfzn5e4fiy6tnx2a5vlf4

Reinforcement Learning in Robotics: Applications and Real-World Challenges

Petar Kormushev, Sylvain Calinon, Darwin Caldwell
2013 Robotics  
In robotics, the ultimate goal of reinforcement learning is to endow robots with the ability to learn, improve, adapt and reproduce tasks with dynamically changing constraints based on exploration and  ...  Numerous challenges faced by the policy representation in robotics are identified.  ...  Acknowledgments This work was partially supported by the AMARSi European project under contract FP7-ICT-248311, and by the PANDORA European project under contract FP7-ICT-288273.  ... 
doi:10.3390/robotics2030122 fatcat:na77gpncsjckrdhvqlwc4fxh2m

Robot-Assisted Therapy for Autism Spectrum Disorders with (Partially) Autonomous Control: Challenges and Outlook

Serge Thill, Cristina A Pop, Tony Belpaeme, Tom Ziemke, Bram Vanderborght
2012 Paladyn: Journal of Behavioral Robotics  
One particular application area is within therapies for autism spectrum disorders, in which the viability of the approach has been demonstrated.The present paper is a vision paper with the aim of identifying  ...  We argue that this requires new advances on the level of robot controllers as well as the ability to infer and classify intentions, goals and emotional states of the robot's interactants.  ...  ASD children also showed more social engagement when interacting with a Nao robot compared to a human partner in a motor imitation task [46] .  ... 
doi:10.2478/s13230-013-0107-7 fatcat:qfkpyv565vha7a4hocxwpkryae

Technical Challenges for Smooth Interaction With Seniors With Dementia: Lessons From Humanitude™

Hidenobu Sumioka, Masahiro Shiomi, Miwako Honda, Atsushi Nakazawa
2021 Frontiers in Robotics and AI  
In this paper, we discuss the current challenges to develop a social robot that can smoothly interact with PwDs and overview the interaction skills used in Humanitude as well as the existing technologies  ...  For example, Humanitude emphasizes the importance of interaction at a relatively intimate distance to facilitate communication with seniors.  ...  AUTHOR CONTRIBUTIONS All authors listed have made a substantial, direct, and intellectual contribution to the work and approved it for publication. ACKNOWLEDGMENTS All authors thank Prof.  ... 
doi:10.3389/frobt.2021.650906 pmid:34150858 pmcid:PMC8207295 fatcat:ehsq2jdr3vg75kwlahtj4jc6k4

Learning from Humans [chapter]

Aude G. Billard, Sylvain Calinon, Rüdiger Dillmann
2016 Springer Handbook of Robotics  
We close with a look on the use of language to guide teaching and a list of open issues.  ...  We start with a brief historical overview of the field. We then summarize the various approaches taken to solve four main questions: when, what, who and when to imitate.  ...  In work to date, teaching is usually done by a single teacher, or teachers with an explicit concept of the task to teach.  ... 
doi:10.1007/978-3-319-32552-1_74 fatcat:wtcftkgkwveexpfbmnkcebi5wu

A Review of Robot Learning for Manipulation: Challenges, Representations, and Algorithms [article]

Oliver Kroemer, Scott Niekum, George Konidaris
2020 arXiv   pre-print
A key challenge in intelligent robotics is creating robots that are capable of directly interacting with the world around them to achieve their goals.  ...  The last decade has seen substantial growth in research on the problem of robot manipulation, which aims to exploit the increasing availability of affordable robot arms and grippers to create robots capable  ...  Acknowledgments The authors would like to thank Animesh Garg for all of his help and insightful discussions, and Ben Abbatematteo, Daniel Brown, Caleb Chuck, Matt Corsaro  ... 
arXiv:1907.03146v3 fatcat:2lmt6zpehfa3rj42a3k5kgd4ju

From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence [article]

Nicholas Roy, Ingmar Posner, Tim Barfoot, Philippe Beaudoin, Yoshua Bengio, Jeannette Bohg, Oliver Brock, Isabelle Depatie, Dieter Fox, Dan Koditschek, Tomas Lozano-Perez, Vikash Mansinghka (+8 others)
2021 arXiv   pre-print
In this article our goal is to highlight challenges and opportunities that are specific to embodied intelligence and to propose research directions which may significantly advance the state-of-the-art  ...  information with a physical environment.  ...  Acknowledgments This paper is the results of a three day workshop sponsored by and held at Element AI, and their support is very gratefully acknowledged.  ... 
arXiv:2110.15245v1 fatcat:juxc4tai2jbklpul55loccnp7e

Robot Learning from Demonstration in Robotic Assembly: A Survey

2018 Robotics  
Diverse metrics are analyzed to evaluate the performance of robot imitation learning. Specifically, the application of LfD in robotic assembly is a focal point in this paper.  ...  The main focus is placed on how to demonstrate the example behaviors to the robot in assembly operations, and how to extract the manipulation features for robot learning and generating imitative behaviors  ...  They indicated that key challenges are how to interpret and understand observed behaviors and how to integrate the perception and motion-control systems to reconstruct what is observed.  ... 
doi:10.3390/robotics7020017 fatcat:mqcsqvchrze7xn7ymzxieyyrqy

Robot fostering techniques for sensory-motor development of humanoid robots

Adrian Stoica
2001 Robotics and Autonomous Systems  
While robot fostering can be the basis of interaction with a variety of robotic shapes, it is most natural and human-friendly when the robot apprentices are anthropomorphic/humanoid.  ...  This paper explores the area in-between, looking at robot fostering, referring to techniques by which skills can be transferred to robots through a close interaction with humans.  ...  The learning by imitation experiment was performed at Victoria University, Melbourne, Australia.  ... 
doi:10.1016/s0921-8890(01)00154-3 fatcat:is3il5vwsrhcln6mp2f3n4ps3y
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