Teaching Robots Interactively

Project Information

TERI

Grant agreement ID: 804907

DOI

10.3030/804907

Project closed

EC signature date 30 October 2018

Start date 1 February 2019

End date 31 January 2024

Funded under

• EXCELLENT SCIENCE - European Research Council (ERC)

Total cost

€ 1 499 894,00

EU contribution

€ 1 499 894,00

Coordinated by

TECHNISCHE UNIVERSITEIT DELFT
Netherlands

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Publications

Conference proceedings (15)

Disagreement-Aware Variable Impedance Control for Online Learning of Physical Human-Robot Cooperation Tasks

Author(s): Linda van der Spaa, Giovanni Franzese, Jens Kober, Michael Gienger
Published in: ICRA 2022 full day workshop - Shared Autonomy in Physical Human-Robot Interaction: Adaptability and Trust, 2022
Publisher: workshop homepage

Interactive Learning of Sensor Policy Fusion

Author(s): Bart Bootsma, Giovanni Franzese, Jens Kober
Published in: IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), 2021
Publisher: IEEE

Interactive Imitation Learning in State-Space

Author(s): Snehal Jauhri, Carlos E. Celemin, Jens Kober
Published in: Conference on Robot Learning (CoRL), 2020
Publisher: Proceedings of Machine Learning Research

Deep Reinforcement Learning with Feedback-based Exploration

Author(s): Jan Scholten, Daan Wout, Carlos Celemin, Jens Kober
Published in: 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, Page(s) 803-808, ISBN 978-1-7281-1398-2
Publisher: IEEE
DOI: 10.1109/cdc40024.2019.9029503

ILoSA: Interactive Learning of Stiffness and Attractors

Author(s): Giovanni Franzese, Anna Mészáros, Luka Peternel, Jens Kober
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
Publisher: IEEE
DOI: 10.1109/iros51168.2021.9636710

Uncertainties Based Queries for Interactive Policy Learning with Evaluations and Corrections

Author(s): Carlos Celemin, Jens Kober
Published in: ICMI '21 Companion, 2021
Publisher: ACM
DOI: 10.1145/3461615.3485404

Learning from Few Demonstrations with Frame-Weighted Motion Generation

Author(s): Jianyong Sun, Jihong Zhu, Jens Kober, and Michael Gienger
Published in: 18th International Symposium on Experimental Robotics (ISER), 2023
Publisher: Springer

Learning Interactively to Resolve Ambiguity in Reference Frame Selection

Author(s): Giovanni Franzese, Carlos E. Celemin, Jens Kober
Published in: Conference on Robot Learning (CoRL), 2020
Publisher: Proceedings of Machine Learning Research

Robotic Packaging Optimization with Reinforcement Learning

Author(s): Drijver, Eveline; Pérez-Dattari, Rodrigo; Kober, Jens; Della Santina, Cosimo; Ajanović, Zlatan
Published in: IEEE International Conference on Automation Science and Engineering (CASE), Issue 1, 2023
Publisher: IEEE
DOI: 10.1109/case56687.2023.10260406

Value Function Learning via Prolonged Backward Heuristic Search

Author(s): Zlatan Ajanović, Bakir Lačević, Jens Kober
Published in: ICAPS 2023 Workshop: PRL Workshop Series – Bridging the Gap Between AI Planning and Reinforcement Learning, 2023
Publisher: workshop homepage

PARTNR: Pick and place Ambiguity Resolving by Trustworthy iNteractive leaRning

Author(s): Jelle Luijkx, Zlatan Ajanović, Laura Ferranti, Jens Kober
Published in: NeurIPS 2022 - 5th Robot Learning Workshop: Trustworthy Robotics, 2022
Publisher: WS homepage
DOI: 10.48550/arxiv.2211.08304

Robotic Fabric Flattening with Wrinkle Direction Detection

Author(s): Yulei Qiu, Jihong Zhu, Cosimo Della Santina, Michael Gienger, and Jens Kober
Published in: 18th International Symposium on Experimental Robotics (ISER), 2023
Publisher: Springer

Vision for Bosnia and Herzegovina in Artificial Intelligence Age: Global Trends, Potential Opportunities, Selected Use-cases and Realistic Goals \\ BOS: Vizija Bosne i Hercegovine u Doba Umjetne Inteligencije: Svjetski Trendovi, Mogućnosti, Odabrani Primjeri i Realistični Ciljevi

Author(s): Zlatan Ajanović, Emina Aličković, Aida Branković, Sead Delalić, Eldar Kurtić, Salem Malikić, Adnan Mehonić, Hamza Merzić, Kenan Šehić, Bahrudin Trbalić
Published in: "Scientific-Professional Conference ""Artificial Intelligence in Bosnia and Herzegovina""- research, application and development perspectives, Federalno ministarstvo obrazovanja i nauke/znanosti : Fondacija za inovacijski i tehnološki razvoj", 2022, Page(s) 13–46, ISBN 978-9958-11-165-5
Publisher: Mostar : Federalno ministarstvo obrazovanja i nauke/znanosti : Fondacija za inovacijski i tehnološki razvoj, 2022 (Mostar : Print Team)

Damping Design for Robot Manipulators

Author(s): Tomás Coleman, Giovanni Franzese, Pablo Borja
Published in: Human-Friendly Robotics 2022, 2023, Page(s) 74–89
Publisher: Springer International Publishing
DOI: 10.1007/978-3-031-22731-8_6

A Unifying Variational Framework for Gaussian Process Motion Planning

Author(s): Lucas Cosier, Rares Iordan, Sicelukwanda Zwane, Giovanni Franzese, James T. Wilson, Marc Peter Deisenroth, Alexander Terenin, Yasemin Bekiroglu
Published in: International Conference on Artificial Intelligence and Statistics (AISTATS), 2024
Publisher: AISTATS

Peer reviewed articles (9)

An Incremental Inverse Reinforcement Learning Approach for Motion Planning with Separated Path and Velocity Preferences

Author(s): Armin Avaei; Linda van der Spaa; Luka Peternel; Jens Kober
Published in: Robotics, Issue VOLUME=12;ISSUE=2;, 2023, Page(s) 61, ISSN 2218-6581
Publisher: MDPI
DOI: 10.3390/robotics12020061

Adaptation Through Prediction: Multisensory Active Inference Torque Control

Author(s): Cristian Meo, Giovanni Franzese, Corrado Pezzato, Max Spahn, Pablo Lanillos
Published in: IEEE Transactions on Cognitive and Developmental Systems, Issue 15(1), 2023, Page(s) 32–41, ISSN 2379-8939
Publisher: IEEE
DOI: 10.1109/tcds.2022.3156664

Learning to Pick at Non-Zero-Velocity from Interactive Demonstrations

Author(s): Anna Mészáros, Giovanni Franzese, Jens Kober
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3165531

Do You Need a Hand? - A Bimanual Robotic Dressing Assistance Scheme

Author(s): Jihong Zhu, Michael Gienger, Giovanni Franzese, Jens Kober
Published in: IEEE Transactions on Robotics, Issue Vol 40, 2024, Page(s) 1906-1919, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2024.3366008

Neural Optimal Control for Constrained Visual Servoing via Learning From Demonstration

Author(s): Ravi Prakash, Laxmidhar Behera
Published in: IEEE Transactions on Automation Science and Engineering, 2023, ISSN 1545-5955
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tase.2023.3272739

Knowledge- and Ambiguity-Aware Robot Learning from Corrective and Evaluative Feedback

Author(s): Carlos E. Celemin, Jens Kober
Published in: Neural Computing and Applications, Issue 35(23), 2023, Page(s) 16821–16839, ISSN 0941-0643
Publisher: Springer Verlag
DOI: 10.1007/s00521-022-08118-z

Interactive Learning of Temporal Features for Control: Shaping Policies and State Representations From Human Feedback

Author(s): Rodrigo Perez-Dattari, Carlos Celemin, Giovanni Franzese, Javier Ruiz-del-Solar, Jens Kober
Published in: IEEE Robotics & Automation Magazine, Issue 27/2, 2020, Page(s) 46-54, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2020.2983649

Interactive Imitation Learning in Robotics: A Survey

Author(s): Carlos Celemin, Rodrigo Pérez-Dattari, Eugenio Chisari, Giovanni Franzese, Leandro de Souza Rosa, Ravi Prakash, Zlatan Ajanović, Marta Ferraz, Abhinav Valada, and Jens Kober
Published in: Foundations and Trends® in Robotics, Issue 10(1–2), 2022, Page(s) 1–197, ISSN 1935-8253
Publisher: now publishers inc.
DOI: 10.1561/2300000072

Interactive Imitation Learning of Bimanual Movement Primitives

Author(s): Giovanni Franzese, Leandro de Souza Rosa, Tim Verburg, Luka Peternel, and Jens Kober
Published in: IEEE/ASME Transactions on Mechatronics, 2023, ISSN 1083-4435
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2023.3295249

Other (4)

ExploRLLM: Guiding Exploration in Reinforcement Learning with Large Language Models

Author(s): Runyu Ma, Jelle Luijkx, Zlatan Ajanović, Jens Kober
Published in: arxiv, 2024
Publisher: arxiv
DOI: 10.48550/arxiv.2403.09583

Solving Robot Assembly Tasks by Combining Interactive Teaching and Self-Exploration

Author(s): Mariano Ramirez Montero, Giovanni Franzese, Jeroen Zwanepol, and Jens Kober
Published in: arxiv, 2022
Publisher: arxiv
DOI: 10.48550/arxiv.2209.11530

Generalization of Task Parameterized Dynamical Systems using Gaussian Process Transportation

Author(s): Giovanni Franzese, Ravi Prakash, Jens Kober
Published in: 2024
Publisher: arXiv
DOI: 10.48550/arxiv.2404.13458

Learning Gaussian Policies from Corrective Human Feedback

Author(s): Daan Wout, Jan Scholten, Carlos Celemin, Jens Kober
Published in: arXiv, 2019
Publisher: arXiv