Linda Spaa, van der, "LEARNING HUMAN PREFERENCES FOR PHYSICAL HUMAN-ROBOT COOPERATION", TU Delft, 2024.

PHYSICAL human-robot cooperation (pHRC) has the potential to combine human and robot strengths in a team that can achieve more than a human and a robot working on the task separately. However, how much of the potential can be realized depends on the quality of cooperation, in which awareness of the partner’s intention and preferences plays an important role. Preferences tend to be highly personal, and additionally de- pend on the cooperation partner and the cooperation itself. They can be hard to define in terms a robot would understand, and may change over time. This thesis focuses on learning ‘useful models’ from observed behavior, to let our robot adapt its behavior to better match its human partner’s preferences, and thus improve the cooperation.