Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Physical Interaction as Communication: Learning Robot Objectives Online
  from Human Corrections   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 paper, 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 to the state-of-the-art. Our results indicate that learning from pHRI
leads to better task performance and improved human satisfaction.

30
The categories of this paper are: q-alg
36
The categories of this paper are: cmp-lg
33
The categories of this paper are: plasm-ph
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The categories of this paper are: atom-ph
11
The categories of this paper are: hep-lat
8
The categories of this paper are: hep-ex
5
The categories of this paper are: gr-qc
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The categories of this paper are: solv-int
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The categories of this paper are: acc-phys
10
The categories of this paper are: q-bio
14
The categories of this paper are: math-ph
27
The categories of this paper are: comp-gas
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The categories of this paper are: mtrl-th
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The categories of this paper are: patt-sol
0
The categories of this paper are: hep-ph
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The categories of this paper are: funct-an