12/6/2023 0 Comments 2 really rad robots interactRobots should dexterously, robustly, and safely manipulate objects to operate in humans’ environments. These abilities enabled us to excel in manipulation tasks, learning new skills, and adapting to complex environments ( Lockman and McHale, 1989 Adolph and Franchak, 2017). The capabilities exhibited by human hands result from a lifetime of learning, observing others, and trying to interact with objects. Humans use hands to interact with the environment in everyday activities, e.g., object manipulation, tool usage, deictic gestures, or communication via sign language ( Napier et al., 1993). In this way, the article provides a broad overview of the interdisciplinary approaches necessary for a robotic system to learn new manipulation skills by observing human behavior in the real world. Furthermore, the article discusses the interplay between these subproblems and describes how their interaction in learning from demonstration contributes to the success of robot manipulation. To this extent, the article presents a general definition of the hand-object interaction problem together with a concise review for each of the main subproblems involved, namely: sensing, perception, and learning. This article presents a deep dive into hand-object interaction and human demonstrations, highlighting the main challenges in this research area and suggesting desirable future developments. It is, therefore, essential to study how humans use their hands to develop similar robotic capabilities. However, state-of-the-art robotic hands are far from replicating humans skills. Human-object interaction is of great relevance for robots to operate in human environments. 7Learning Algorithms and Systems Laboratory, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland.6Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Barcelona, Spain.5Humanoid Sensing and Perception, Istituto Italiano di Tecnologia, Genoa, Italy.4Institut des Systèmes Intelligents et de Robotique, Sorbonne Université, Paris, France.
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