---
_id: '55400'
abstract:
- lang: eng
  text: "This study contributes to the evolving field of robot learning in interaction\r\nwith
    humans, examining the impact of diverse input modalities on learning\r\noutcomes.
    It introduces the concept of \"meta-modalities\" which encapsulate\r\nadditional
    forms of feedback beyond the traditional preference and scalar\r\nfeedback mechanisms.
    Unlike prior research that focused on individual\r\nmeta-modalities, this work
    evaluates their combined effect on learning\r\noutcomes. Through a study with
    human participants, we explore user preferences\r\nfor these modalities and their
    impact on robot learning performance. Our\r\nfindings reveal that while individual
    modalities are perceived differently,\r\ntheir combination significantly improves
    learning behavior and usability. This\r\nresearch not only provides valuable insights
    into the optimization of\r\nhuman-robot interactive task learning but also opens
    new avenues for enhancing\r\nthe interactive freedom and scaffolding capabilities
    provided to users in such\r\nsettings."
article_type: original
author:
- first_name: Helen
  full_name: Beierling, Helen
  last_name: Beierling
- first_name: 'Robin '
  full_name: 'Beierling, Robin '
  last_name: Beierling
- first_name: Anna-Lisa
  full_name: Vollmer, Anna-Lisa
  last_name: Vollmer
citation:
  ama: Beierling H, Beierling R, Vollmer A-L. The power of combined modalities in
    interactive robot learning. <i>Frontiers in Robotics and AI</i>. 2025;12.
  apa: Beierling, H., Beierling, R., &#38; Vollmer, A.-L. (2025). The power of combined
    modalities in interactive robot learning. <i>Frontiers in Robotics and AI</i>,
    <i>12</i>.
  bibtex: '@article{Beierling_Beierling_Vollmer_2025, title={The power of combined
    modalities in interactive robot learning}, volume={12}, journal={Frontiers in
    Robotics and AI}, publisher={Frontiers }, author={Beierling, Helen and Beierling,
    Robin  and Vollmer, Anna-Lisa}, year={2025} }'
  chicago: Beierling, Helen, Robin  Beierling, and Anna-Lisa Vollmer. “The Power of
    Combined Modalities in Interactive Robot Learning.” <i>Frontiers in Robotics and
    AI</i> 12 (2025).
  ieee: H. Beierling, R. Beierling, and A.-L. Vollmer, “The power of combined modalities
    in interactive robot learning,” <i>Frontiers in Robotics and AI</i>, vol. 12,
    2025.
  mla: Beierling, Helen, et al. “The Power of Combined Modalities in Interactive Robot
    Learning.” <i>Frontiers in Robotics and AI</i>, vol. 12, Frontiers , 2025.
  short: H. Beierling, R. Beierling, A.-L. Vollmer, Frontiers in Robotics and AI 12
    (2025).
date_created: 2024-07-26T08:35:24Z
date_updated: 2025-09-17T13:38:18Z
ddc:
- '004'
extern: '1'
file:
- access_level: closed
  content_type: application/pdf
  creator: helebeen
  date_created: 2025-09-17T13:36:09Z
  date_updated: 2025-09-17T13:36:09Z
  file_id: '61331'
  file_name: frobt-12-1598968.pdf
  file_size: 36978223
  relation: main_file
  success: 1
file_date_updated: 2025-09-17T13:36:09Z
funded_apc: '1'
has_accepted_license: '1'
intvolume: '        12'
keyword:
- human-robot interaction
- human-in-the-loop learning
- reinforcement learning
- interactive robot learning
- multi-modal feedback
- learning from demonstration
- preference-based learning
- scaffolding in robot learning
language:
- iso: eng
main_file_link:
- open_access: '1'
  url: https://pmc.ncbi.nlm.nih.gov/articles/PMC12312635/
oa: '1'
project:
- _id: '123'
  name: 'TRR 318 - B5: TRR 318 - Subproject B5'
publication: Frontiers in Robotics and AI
publication_status: published
publisher: 'Frontiers '
status: public
title: The power of combined modalities in interactive robot learning
type: journal_article
user_id: '50995'
volume: 12
year: '2025'
...