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Representation of Embodied Collaborative Behaviors in Cyber-Physical Human-Robot Interaction with Immersive User Interfaces

Collaborative robots require high intelligence in order to adapt to the widely diversified human partner's behaviors. We have proposed an interactive robot learning of collaborative actions from large datasets of human-robot interactions. This work aims to further our development to incorporate embodied behaviors in human-robot collaboration into the robot learning approach. In this preliminary work, we develop immersive user interfaces with virtual reality devices for the cyber-physical interaction between human and robot, in order to represent embodied collaborative behaviors in our experiment system. We have obtained the human's visual observation in the virtual world by tracking the movement of the head mounted device to determine the observed target, the verbal communication between agents from the spoken speech, and the agent's actions, i.e. the body movements from tracking the avatar's location in the virtual world to determine the traveled path.