3 accepted papers
With growing access to versatile robotics, it is beneficial for end users to be able to teach robots tasks without needing to code a control policy. One possibility is to teach the robot through successful task executions. However, near-optimal demonstrations of a task can be difficult to provide an…
Motions carry information about the underlying task being executed. Previous studies on human motion analysis suggest that complex motions may result from the composition of fundamental submovements called movemes. The existence of finite structure in motion motivates information-theoretic approache
We propose a novel criterion for evaluating user input for human-robot interfaces for known tasks. We use the mode insertion gradient (MIG)---a tool from hybrid control theory---as a filtering criterion that instantaneously assesses the impact of user actions on a dynamic system over a time window i…