FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3208223622> ?p ?o ?g. }

• W3208223622 endingPage "44" @default.
• W3208223622 startingPage "20" @default.
• W3208223622 abstract "When a robot performs a task next to a human, physical interaction is inevitable: the human might push, pull, twist, or guide the robot. The state of the art treats these interactions as disturbances that the robot should reject or avoid. At best, these robots respond safely while the human interacts; but after the human lets go, these robots simply return to their original behavior. We recognize that physical human–robot interaction (pHRI) is often intentional: the human intervenes on purpose because the robot is not doing the task correctly. In this article, we argue that when pHRI is intentional it is also informative: the robot can leverage interactions to learn how it should complete the rest of its current task even after the person lets go. We formalize pHRI as a dynamical system, where the human has in mind an objective function they want the robot to optimize, but the robot does not get direct access to the parameters of this objective: they are internal to the human. Within our proposed framework human interactions become observations about the true objective. We introduce approximations to learn from and respond to pHRI in real-time. We recognize that not all human corrections are perfect: often users interact with the robot noisily, and so we improve the efficiency of robot learning from pHRI by reducing unintended learning. Finally, we conduct simulations and user studies on a robotic manipulator to compare our proposed approach with the state of the art. Our results indicate that learning from pHRI leads to better task performance and improved human satisfaction." @default.
• W3208223622 created "2021-11-08" @default.
• W3208223622 creator A5005997281 @default.
• W3208223622 creator A5009871449 @default.
• W3208223622 creator A5050279893 @default.
• W3208223622 creator A5063608480 @default.
• W3208223622 date "2021-10-25" @default.
• W3208223622 modified "2023-10-09" @default.
• W3208223622 title "Physical interaction as communication: Learning robot objectives online from human corrections" @default.
• W3208223622 cites W1539216098 @default.
• W3208223622 cites W1551864151 @default.
• W3208223622 cites W1583136812 @default.
• W3208223622 cites W1837766154 @default.
• W3208223622 cites W187005120 @default.
• W3208223622 cites W1970916399 @default.
• W3208223622 cites W1971086298 @default.
• W3208223622 cites W1986014385 @default.
• W3208223622 cites W1992461594 @default.
• W3208223622 cites W1993999483 @default.
• W3208223622 cites W1994648061 @default.
• W3208223622 cites W1997932767 @default.
• W3208223622 cites W1999874108 @default.
• W3208223622 cites W2017239762 @default.
• W3208223622 cites W2020764470 @default.
• W3208223622 cites W2038581140 @default.
• W3208223622 cites W2046213647 @default.
• W3208223622 cites W2050835671 @default.
• W3208223622 cites W2065804258 @default.
• W3208223622 cites W2105925198 @default.
• W3208223622 cites W2111362669 @default.
• W3208223622 cites W2121110499 @default.
• W3208223622 cites W2142224528 @default.
• W3208223622 cites W2149085596 @default.
• W3208223622 cites W2152536965 @default.
• W3208223622 cites W2154777391 @default.
• W3208223622 cites W2168359464 @default.
• W3208223622 cites W2169498096 @default.
• W3208223622 cites W2280090643 @default.
• W3208223622 cites W2511957348 @default.
• W3208223622 cites W2611146760 @default.
• W3208223622 cites W2784881541 @default.
• W3208223622 cites W2792089292 @default.
• W3208223622 cites W2799280697 @default.
• W3208223622 cites W2801531857 @default.
• W3208223622 cites W2810905956 @default.
• W3208223622 cites W2915070458 @default.
• W3208223622 cites W2963507484 @default.
• W3208223622 cites W2964132611 @default.
• W3208223622 cites W3092948749 @default.
• W3208223622 cites W3101780148 @default.
• W3208223622 cites W3105789002 @default.
• W3208223622 cites W3105843127 @default.
• W3208223622 cites W3205292576 @default.
• W3208223622 cites W3205824709 @default.
• W3208223622 doi "https://doi.org/10.1177/02783649211050958" @default.
• W3208223622 hasPublicationYear "2021" @default.
• W3208223622 type Work @default.
• W3208223622 sameAs 3208223622 @default.
• W3208223622 citedByCount "5" @default.
• W3208223622 countsByYear W32082236222023 @default.
• W3208223622 crossrefType "journal-article" @default.
• W3208223622 hasAuthorship W3208223622A5005997281 @default.
• W3208223622 hasAuthorship W3208223622A5009871449 @default.
• W3208223622 hasAuthorship W3208223622A5050279893 @default.
• W3208223622 hasAuthorship W3208223622A5063608480 @default.
• W3208223622 hasBestOaLocation W32082236222 @default.
• W3208223622 hasConcept C107457646 @default.
• W3208223622 hasConcept C127413603 @default.
• W3208223622 hasConcept C145460709 @default.
• W3208223622 hasConcept C153083717 @default.
• W3208223622 hasConcept C154945302 @default.
• W3208223622 hasConcept C188888258 @default.
• W3208223622 hasConcept C19766214 @default.
• W3208223622 hasConcept C19966478 @default.
• W3208223622 hasConcept C201995342 @default.
• W3208223622 hasConcept C2780451532 @default.
• W3208223622 hasConcept C41008148 @default.
• W3208223622 hasConcept C44154836 @default.
• W3208223622 hasConcept C90509273 @default.
• W3208223622 hasConceptScore W3208223622C107457646 @default.
• W3208223622 hasConceptScore W3208223622C127413603 @default.
• W3208223622 hasConceptScore W3208223622C145460709 @default.
• W3208223622 hasConceptScore W3208223622C153083717 @default.
• W3208223622 hasConceptScore W3208223622C154945302 @default.
• W3208223622 hasConceptScore W3208223622C188888258 @default.
• W3208223622 hasConceptScore W3208223622C19766214 @default.
• W3208223622 hasConceptScore W3208223622C19966478 @default.
• W3208223622 hasConceptScore W3208223622C201995342 @default.
• W3208223622 hasConceptScore W3208223622C2780451532 @default.
• W3208223622 hasConceptScore W3208223622C41008148 @default.
• W3208223622 hasConceptScore W3208223622C44154836 @default.
• W3208223622 hasConceptScore W3208223622C90509273 @default.
• W3208223622 hasFunder F4320306076 @default.
• W3208223622 hasFunder F4320315389 @default.
• W3208223622 hasFunder F4320338279 @default.
• W3208223622 hasIssue "1" @default.
• W3208223622 hasLocation W32082236221 @default.
• W3208223622 hasLocation W32082236222 @default.

• next