Ambiguity-driven Interaction in Robot-to-Human Teaching

The transfer of task knowledge is ubiquitous in our daily lives, where various types of interaction occur. Such an interactive task knowledge transfer, however, requires that an instructor and a learner to be at the same place and time. If we use a robot to mediate between them, such limitations can be eliminated. This paper focuses on human-to-robot teaching, in which a robot instructor interactively teaches a human learner how to achieve a task. We develop an ambiguity-driven formulation of interactive teaching based on the Dempster-Shafer theory. We implemented an experimental system for blocks world tasks as a proof-of-concept and show our preliminary results.