{"year":"2025","_id":"61327","title":"Human-Interactive Robot Learning: Definition, Challenges, and Recommendations","citation":{"ama":"Baraka K, Idrees I, Faulkner TK, et al. Human-Interactive Robot Learning: Definition, Challenges, and Recommendations. <i>Transactions on Human-Robot Interaction</i>.","chicago":"Baraka, Kim , Ifrah Idrees, Taylor Kessler Faulkner, Erdem Biyik, Serena Booth, Mohamed Chetouani, Daniel H. Grollman, et al. “Human-Interactive Robot Learning: Definition, Challenges, and Recommendations.” <i>Transactions on Human-Robot Interaction</i>, n.d.","apa":"Baraka, K., Idrees, I., Faulkner, T. K., Biyik, E., Booth, S., Chetouani, M., Grollman, D. H., Saran, A., Senft, E., Tulli, S., Vollmer, A.-L., Andriella, A., Beierling, H., Horter, T., Kober, J., Sheidlower, I., Taylor, M. E., van Waveren, S., &#38; Xiao, X. (n.d.). Human-Interactive Robot Learning: Definition, Challenges, and Recommendations. <i>Transactions on Human-Robot Interaction</i>.","short":"K. Baraka, I. Idrees, T.K. Faulkner, E. Biyik, S. Booth, M. Chetouani, D.H. Grollman, A. Saran, E. Senft, S. Tulli, A.-L. Vollmer, A. Andriella, H. Beierling, T. Horter, J. Kober, I. Sheidlower, M.E. Taylor, S. van Waveren, X. Xiao, Transactions on Human-Robot Interaction (n.d.).","bibtex":"@article{Baraka_Idrees_Faulkner_Biyik_Booth_Chetouani_Grollman_Saran_Senft_Tulli_et al., title={Human-Interactive Robot Learning: Definition, Challenges, and Recommendations}, journal={Transactions on Human-Robot Interaction}, author={Baraka, Kim  and Idrees, Ifrah and Faulkner, Taylor Kessler and Biyik, Erdem and Booth, Serena and Chetouani, Mohamed and Grollman, Daniel H. and Saran, Akanksha and Senft, Emmanuel and Tulli, Silvia and et al.} }","ieee":"K. Baraka <i>et al.</i>, “Human-Interactive Robot Learning: Definition, Challenges, and Recommendations,” <i>Transactions on Human-Robot Interaction</i>.","mla":"Baraka, Kim, et al. “Human-Interactive Robot Learning: Definition, Challenges, and Recommendations.” <i>Transactions on Human-Robot Interaction</i>."},"keyword":["Robot learning","Interactive learning systems","Human-robot interaction","Human-in-the-loop machine learning","Teaching and learning"],"publication":"Transactions on Human-Robot Interaction","user_id":"50995","publication_status":"submitted","language":[{"iso":"eng"}],"abstract":[{"lang":"eng","text":"Robot learning from humans has been proposed and researched for several decades as a means to enable robots to learn new skills or\r\nadapt existing ones to new situations. Recent advances in artificial intelligence, including learning approaches like reinforcement\r\nlearning and architectures like transformers and foundation models, combined with access to massive datasets, has created attractive\r\nopportunities to apply those data-hungry techniques to this problem. We argue that the focus on massive amounts of pre-collected\r\ndata, and the resulting learning paradigm, where humans demonstrate and robots learn in isolation, is overshadowing a specialized\r\narea of work we term Human-Interactive-Robot-Learning (HIRL). This paradigm, wherein robots and humans interact during the\r\nlearning process, is at the intersection of multiple fields (artificial intelligence, robotics, human-computer interaction, design and others)\r\nand holds unique promise. Using HIRL, robots can achieve greater sample efficiency (as humans can provide task knowledge through\r\ninteraction), align with human preferences (as humans can guide the robot behavior towards their expectations), and explore more\r\nmeaningfully and safely (as humans can utilize domain knowledge to guide learning and prevent catastrophic failures). This can result\r\nin robotic systems that can more quickly and easily adapt to new tasks in human environments. The objective of this paper is to\r\nprovide a broad and consistent overview of HIRL research and to guide researchers toward understanding the scope of HIRL, and\r\ncurrent open or underexplored challenges related to four themes — namely, human, robot learning, interaction, and broader context.\r\nThe paper includes concrete use cases to illustrate the interaction between these challenges and inspire further research according to\r\nbroad recommendations and a call for action for the growing HIRL community"}],"status":"public","author":[{"first_name":"Kim ","full_name":"Baraka, Kim ","last_name":"Baraka"},{"first_name":"Ifrah","full_name":"Idrees, Ifrah","last_name":"Idrees"},{"last_name":"Faulkner","full_name":"Faulkner, Taylor Kessler","first_name":"Taylor Kessler"},{"full_name":"Biyik, Erdem","last_name":"Biyik","first_name":"Erdem"},{"last_name":"Booth","full_name":"Booth, Serena","first_name":"Serena"},{"first_name":"Mohamed","full_name":"Chetouani, Mohamed","last_name":"Chetouani"},{"first_name":"Daniel H.","full_name":"Grollman, Daniel H.","last_name":"Grollman"},{"first_name":"Akanksha","last_name":"Saran","full_name":"Saran, Akanksha"},{"full_name":"Senft, Emmanuel","last_name":"Senft","first_name":"Emmanuel"},{"first_name":"Silvia","last_name":"Tulli","full_name":"Tulli, Silvia"},{"first_name":"Anna-Lisa","last_name":"Vollmer","full_name":"Vollmer, Anna-Lisa"},{"first_name":"Antonio","full_name":"Andriella, Antonio","last_name":"Andriella"},{"first_name":"Helen","last_name":"Beierling","full_name":"Beierling, Helen"},{"first_name":"Tiffany","full_name":"Horter, Tiffany","last_name":"Horter"},{"last_name":"Kober","full_name":"Kober, Jens","first_name":"Jens"},{"first_name":"Isaac","last_name":"Sheidlower","full_name":"Sheidlower, Isaac"},{"full_name":"Taylor, Matthew E.","last_name":"Taylor","first_name":"Matthew E."},{"full_name":"van Waveren, Sanne","last_name":"van Waveren","first_name":"Sanne"},{"first_name":"Xuesu","full_name":"Xiao, Xuesu","last_name":"Xiao"}],"article_type":"original","type":"journal_article","project":[{"name":"TRR 318 - Subproject B5","_id":"123"}],"date_updated":"2025-09-17T13:40:16Z","date_created":"2025-09-17T12:42:45Z"}