Robot Learning from Human Demonstrations: Handwritten Alphabet Trajectories and Human-Likeness Evaluation

Sicherheitsmeldung mit Schweregrad noch nicht bewertet. Technische Details im Tab „Originaltext“; empfohlene Schritte in der Checkliste.

Originaltext der Quelle (nicht übersetzt) – die deutsche Zusammenfassung findest du im Tab „Kurzfassung".

arXiv:2608.06221v1 Announce Type: cross Abstract: Learning from demonstration (LfD) provides a developmental framework through which robots can develop motor skills by observing and imitating human dynamics, reducing reliance on explicit programming to teach a skill to a robot. The resulting human-like robot motion is recognised as a key factor in building trust and enabling natural collaboration in human-robot interaction. This paper presents a framework for learning human-like robot motion from demonstration, including data collection, probabilistic trajectory learning, and perceptual user evaluation. A dataset of 3,142 handwriting demonstrations was collected from 22 participants across all 52 Latin alphabet character-case combinations via a touchscreen teleoperation interface, capturing planar position, contact force, and timing. Building on the widely used Gaussian Mixture Model and Gaussian Mixture Regression approach for learning from demonstration, the framework is extended in this work by incorporating force and normalised time dimensions to enable richer representation of human dynamics, and adapting it to handle non-continuous, multi-segment trajectories, enabling generalisation across demonstrations. A user study with 21 participants evaluated the perceived human-likeness of the generated trajectories using a continuous scale anchored between robotic and human-like motion, normalised to 0-100 where 50 represents the neutral midpoint. The generated trajectories achieved an overall human-likeness score of 71.50 (SD=22.56), indicating that the majority of …

Vollständiger Originalartikel ↗

• Betroffenheit im eigenen Stack prüfen: Versionen/Komponenten abgleichen.
• Originalquelle / Hersteller-Advisory lesen: https://arxiv.org/abs/2608.06221
• Verfügbaren Patch oder Workaround einspielen und dokumentieren.