Now showing items 1-20 of 32

    • Effects of Social Exploration Mechanisms on Robot Learning 

      Cakmak, Maya; DePalma, Nick; Thomaz, Andrea L.; Arriaga, Rosa (Georgia Institute of TechnologyInstitute of Electrical & Electronics Engineers, 2009)
      Social learning in robotics has largely focused on imitation learning. Here we take a broader view and are interested in the multifaceted ways that a social partner can influence the learning process. We implement four ...
    • Computational Benefits of Social Learning Mechanisms: Stimulus Enhancement and Emulation 

      Cakmak, Maya; DePalma, Nick; Arriaga, Rosa; Thomaz, Andrea L. (Georgia Institute of TechnologyInstitute of Electrical & Electronics Engineers, 2009)
      Social learning in robotics has largely focused on imitation learning. In this work, we take a broader view of social learning and are interested in the multifaceted ways that a social partner can influence the learning ...
    • Learning about Objects with Human Teachers 

      Thomaz, Andrea L.; Cakmak, Maya (Georgia Institute of TechnologyAssociation for Computing Machinery, 2009)
      A general learning task for a robot in a new environment is to learn about objects and what actions/effects they afford. To approach this, we look at ways that a human partner can intuitively help the robot learn, ...
    • Social Learning Mechanisms for Robots 

      Thomaz, Andrea L.; Cakmak, Maya (Georgia Institute of Technology, 2009)
      There is currently a surge of interest in service robotics—a desire to have robots leave the labs and factory floors to help solve critical issues facing our society, ranging from eldercare to education. A critical issue ...
    • Effective robot task learning by focusing on task-relevant objects 

      Lee, Kyu Hwa; Lee, Jinhan; Thomaz, Andrea L.; Bobick, Aaron F. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-10)
      In a robot learning from demonstration framework involving environments with many objects, one of the key problems is to decide which objects are relevant to a given task. In this paper, we analyze this problem and propose ...
    • Turn-Taking for Human-Robot Interaction 

      Chao, Crystal; Thomaz, Andrea L. (Georgia Institute of Technology, 2010)
    • Exploiting social partners in robot learning 

      Cakmak, Maya; DePalma, Nick; Arriaga, Rosa; Thomaz, Andrea L. (Georgia Institute of TechnologySpringer, 2010)
      Social learning in robotics has largely focused on imitation learning. Here we take a broader view and are interested in the multifaceted ways that a social partner can in uence the learning process. We implement four ...
    • Batch versus Interactive Learning by Demonstration 

      Zang, Peng; Tian, Runhe; Thomaz, Andrea L.; Isbell, Charles L. (Georgia Institute of TechnologyInstitute of Electrical & Electronics Engineers, 2010)
      Agents that operate in human environments will need to be able to learn new skills from everyday people. Learning from demonstration (LfD) is a popular paradigm for this. Drawing from our interest in Socially Guided ...
    • Transparent Active Learning for Robots 

      Chao, Crystal; Cakmak, Maya; Thomaz, Andrea L. (Georgia Institute of TechnologyInstitute of Electrical & Electronics Engineers, 2010)
      This research aims to enable robots to learn from human teachers. Motivated by human social learning, we believe that a transparent learning process can help guide the human teacher to provide the most informative ...
    • Optimality of Human Teachers for Robot Learners 

      Cakmak, Maya; Thomaz, Andrea L. (Georgia Institute of TechnologyInstitute of Electrical & Electronics Engineers, 2010)
      In this paper we address the question of how closely everyday human teachers match a theoretically optimal teacher. We present two experiments in which subjects teach a concept to our robot in a supervised fashion. In ...
    • Secondary Action in Robot Motion 

      Gielniak, Michael J.; Liu, C. Karen; Thomaz, Andrea L. (Georgia Institute of TechnologyInstitute of Electrical & Electronics Engineers, 2010)
      Secondary action, a concept borrowed from character animation, improves the animation realism by augmenting natural, passive motion to primary action. We use dynamic simulation to induce three techniques of secondary motion ...
    • Stylized Motion Generalization Through Adaptation of Velocity Profiles 

      Gielniak, Michael J.; Liu, C. Karen; Thomaz, Andrea L. (Georgia Institute of TechnologyInstitute of Electrical & Electronics Engineers, 2010)
      Stylized motion is prevalent in the field of Human-Robot Interaction (HRI). Robot designers typically hand craft or work with professional animators to design behaviors for a robot that will be communicative or life-like ...
    • Combining function approximation, human teachers, and training regimens for real-world RL 

      Zang, Peng; Irani, Arya; Zhou, Peng; Isbell, Charles L.; Thomaz, Andrea L. (Georgia Institute of TechnologyInternational Foundation for Autonomous Agents and Multiagent Systems, 2010)
    • Designing Interactions for Robot Active Learners 

      Cakmak, Maya; Chao, Crystal; Thomaz, Andrea L. (Georgia Institute of TechnologyInstitute of Electrical & Electronics Engineers, 2010-06)
      This paper addresses some of the problems that arise when applying active learning to the context of human–robot interaction (HRI). Active learning is an attractive strategy for robot learners because it has the potential ...
    • Vision-based Contingency Detection 

      Lee, Jinhan; Kiser, Jeffrey F.; Bobick, Aaron F.; Thomaz, Andrea L. (Georgia Institute of TechnologyAssociation for Computing Machinery, 2011)
      We present a novel method for the visual detection of a contingent response by a human to the stimulus of a robot action. Contingency is de ned as a change in an agent's be- havior within a speci c time window in direct ...
    • Anticipation in Robot Motion 

      Gielniak, Michael J.; Thomaz, Andrea L. (Georgia Institute of TechnologyInstitute of Electrical & Electronics Engineers, 2011)
      Robots that display anticipatory motion provide their human partners with greater time to respond in interactive tasks because human partners are aware of robot intent earlier. We create anticipatory motion autonomously ...
    • Human-like Action Segmentation for Option Learning 

      Shim, Jaeeun; Thomaz, Andrea L. (Georgia Institute of TechnologyInstitute of Electrical & Electronics Engineers, 2011)
      Robots learning interactively with a human partner has several open questions, one of which is increasing the efficiency of learning. One approach to this problem in the Reinforcement Learning domain is to use options, ...
    • Simon plays Simon says: The timing of turn-taking in an imitation game 

      Chao, Crystal; Lee, Jinhan; Begum, Momotaz; Thomaz, Andrea L. (Georgia Institute of TechnologyInstitute of Electrical & Electronics Engineers, 2011)
      Turn-taking is fundamental to the way humans engage in information exchange, but robots currently lack the turn-taking skills required for natural communication. In order to bring effective turn-taking to robots, we must ...
    • Spatiotemporal Correspondence as a Metric for Human-like Robot Motion 

      Gielniak, Michael J.; Thomaz, Andrea L. (Georgia Institute of TechnologyAssociation for Computing Machinery, 2011)
      Coupled degrees-of-freedom exhibit correspondence, in that their trajectories in uence each other. In this paper we add evidence to the hypothesis that spatiotemporal corre- spondence (STC) of distributed actuators is ...
    • Task-Aware Variations in Robot Motion 

      Gielniak, Michael J.; Liu, C. Karen; Thomaz, Andrea L. (Georgia Institute of TechnologyInstitute of Electrical & Electronics Engineers, 2011-05)
      Social robots can benefit from motion variance because non-repetitive gestures will be more natural and intuitive for human partners. We introduce a new approach for synthesizing variance, both with and without constraints, ...