The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

Effective human/robot interfaces which mimic how humans interact with one another could ultimately lead to robots being accepted in a wider domain of applications. We present a framework for interactive task training of a mobile robot where the robot learns how to do various tasks while observing a human. In addition to observation, the robot listens to the human's speech and interprets the speech as behaviors that are required to be executed. This is especially important where individual steps of a given task may have contingencies that have to be dealt with depending on the situation. Finally, the context of the location where the task takes place and the people present factor heavily into the robot's interpretation of how to execute the task. In this paper, we describe the task training framework, describe how environmental context and communicative dialog with the human help the robot learn the task, and illustrate the utility of this approach with several experimental case studies.

Keywords

learning by demonstration, human/robot interaction

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center and Quality of Life Technology Center

Associated Lab(s) / Group(s): MultiRobot Lab and Human-Robot Interaction Group

Associated Project(s): Robotic Soccer

Text Reference

Paul Rybski, Kevin Yoon, Jeremy Stolarz, and Manuela Veloso, "Interactive Robot Task Training through Dialog and Demonstration," 2nd ACM/IEEE International Conference on Human-Robot Interaction, March, 2007.

BibTeX Reference

@inproceedings{Rybski_2007_5670,
   author = "Paul Rybski and Kevin Yoon and Jeremy Stolarz and Manuela Veloso",
   title = "Interactive Robot Task Training through Dialog and Demonstration",
   booktitle = "2nd ACM/IEEE International Conference on Human-Robot Interaction",
   month = "March",
   year = "2007",
}

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