Learning Human-Robot Interactions from Human-Human Interaction Demonstrations TU Darmstadt, Germany July 2022 - Ongoing Collaborators: Vignesh Prasad (TU Darmstadt), Alap Kshirsagar (TU Darmstadt), Dorothea Koert (TU Darmstadt), Jan Peters (TU Darmstadt) and Georgia Chalvatzaki (TU Darmstadt)

Learning robot behavior from human demonstrations allows non-expert users to teach robots and produce humanlike behaviors desirable for humanoid robots. In this project, we are developing methods to learn human-robot interactions from demonstrations of human-human interactions.

Publications

Prasad, V., Kshirsagar, A., Koert, D., Stock-Homburg, R., Peters, J., & Chalvatzaki, G., MoVEInt: Mixture of Variational Experts for Learning HRI from Demonstrations, Workshop on Nonverbal Cues for Human-Robot Cooperative Intelligence at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024 🏆Best Workshop Paper

Prasad, V., Kshirsagar, A., Koert, D., Stock-Homburg, R., Peters, J., & Chalvatzaki, G., MoVEInt: Mixture of Variational Experts for Learning Human–Robot Interactions From Demonstrations, Workshop on Structural Priors as Inductive Biases for Learning Robot Dynamics at Robotics: Science and Systems (RSS), 2024

Prasad, V., Kshirsagar, A., Koert, D., Stock-Homburg, R., Peters, J., & Chalvatzaki, G., MoVEInt: Mixture of Variational Experts for Learning Human–Robot Interactions From Demonstrations, IEEE Robotics and Automation Letters, and IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

Hahne, F., Prasad, V., Kshirsagar, A., Koert, D., Stock-Homburg, R.M., Peters, J., & Chalvatzaki, G., Transition State Clustering for Interaction Segmentation and Learning, ACM/IEEE International Conference on Human-Robot Interaction (HRI) - Late Breaking Report, 2024

Goeksu, Y., Almeida-Correia, A., Prasad, V., Kshirsagar, A., Koert, D., Peters, J., & Chalvatzaki, G., Kinematically Constrained Human-like Bimanual Robot-to-Human Handovers, ACM/IEEE International Conference on Human-Robot Interaction (HRI) - Late Breaking Report, 2024

Kshirsagar, A., Fortuna, R., Xie, Z., & Hoffman, G., Dataset of Bimanual Human-to-Human Object Handovers, Data in Brief, 2023