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Defining an accurate and easy-to-use ergonomic assessment model stands as an important step in providing feedback for postural correction to improve operator health and comfort. Keywords: Physical Human-Robot Interaction, Safety in HRI, Human-Aware Motion PlanningĪbstract: Ergonomics and human comfort are essential concerns in physical human-robot interaction applications. Results of an online user study with 125 participants demonstrate that our framework improves the task performance and collaborative fluency of human-agent teams, as compared to state of the art reinforcement learning methods.ĭULA and DEBA: Differentiable Ergonomic Risk Models for Postural Assessment and Optimization in Ergonomically Intelligent PHRI We evaluate our model on a collaborative cooking task using an Overcooked simulator. Robot policies are learned on each of the identified strategies to construct a Mixture-of-Experts model that adapts to the task strategies of unseen human partners. By transforming team actions into low dimensional representations using hidden Markov models, we can identify strategies without prior knowledge. We first present an algorithm for autonomously recognizing available task-completion strategies by observing human-human teams performing a collaborative task.

Our goal in this work is to develop a computational framework for robot adaptation to human partners in human-robot team collaborations. Robots designed for such collaboration must reason about how their task-completion strategies interplay with the behavior and skills of their human team members as they coordinate on achieving joint goals.

Keywords: Human-Robot Collaboration, Human-Robot TeamingĪbstract: Human and robot partners increasingly need to work together to perform tasks as a team.

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