Goal Inference via Corrective Path Demonstration for Human-Robot Collaboration

Fumiya Ohnishi, Yosuke Kawasaki, Masaki Takahashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Recently, collaborative robots, such as collaborative delivery robots, have been expected to improve the work efficiency of users. For natural human-robot collaboration, it is necessary to infer the appropriate goal position to transport instruments, where the user’s convenience and the surrounding environment are considered. In conventional research, the goal is inferred by demonstrating the user’s desired positions, but position demonstration requires many trials to obtain the inference model, which is burdensome for the user. Therefore, we focus on the user’s correction of the robot position and generate multiple position samples from the user’s corrective path. In addition, these position samples are weighted based on the implicit intention of the correction to learn both the desired and undesired positions. Consequently, the robot improves goal inference in fewer trials. The effectiveness of the proposed method was evaluated by experiment that simulated human-robot collaborative environments.

Original languageEnglish
Title of host publicationIntelligent Autonomous Systems 17 - Proceedings of the 17th International Conference IAS-17
EditorsIvan Petrovic, Ivan Markovic, Emanuele Menegatti
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages14
ISBN (Print)9783031222153
Publication statusPublished - 2023
Event17th International Conference on Intelligent Autonomous Systems, IAS-17 - Zagreb, Croatia
Duration: 2022 Jun 132022 Jun 16

Publication series

NameLecture Notes in Networks and Systems
Volume577 LNNS
ISSN (Print)2367-3370
ISSN (Electronic)2367-3389


Conference17th International Conference on Intelligent Autonomous Systems, IAS-17


  • Goal inference
  • Human-robot collaboration
  • Learning from demonstration

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Signal Processing
  • Computer Networks and Communications


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