Simon Stepputtis

Simon Stepputtis

PhD Student - Arizona State University


Recent news from my research

January 2017Our paper "A System for Learning Continuous Human-Robot Interactions from Human-Human Demonstrations" was accepted for ICRA 2017
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December 2016I joined the Interactive Robotics Lab at Arizona State University which is led by Prof. Dr. Heni Ben Amor
November 2016Our Video "Learning human-robot interactions from human-human demonstrations (with applications in Lego rocket assembly)" received the Best Video Award at Humanoids 2016

Selected Publication

A full list of my publications can be found here

Learning human-robot interactions from human-human demonstrations (with applications in Lego rocket assembly)

David Vogt, Simon Stepputtis, Richard Weinhold, Bernhard Jung, Heni Ben Amor | Humanoids 2016

This video demonstrates a novel imitation learning approach for learning human-robot interactions from human-human demonstrations. During training, the movements of two human interaction partners are recorded via motion capture. From this, an interaction model is learned that inherently captures important spatial relationships as well as temporal synchrony of body movements between the two interacting partners. The interaction model is based on interaction meshes that were first adopted by the computer graphics community for the offline animation of interacting virtual characters. We developed a variant of interaction meshes that is suitable for real-time human-robot interaction scenarios. During humanrobot collaboration, the learned interaction model allows for adequate spatio-temporal adaptation of the robots behavior to the movements of the human cooperation partner. Thus, the presented approach is well suited for collaborative tasks requiring continuous body movement coordination of a human and a robot. The feasibility of the approach is demonstrated with the example of a cooperative Lego rocket assembly task.

Links: IEEE Xplore | PDF | Video