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This work was supported by JSPS KAKENHI Grant Numbers JP24KJ1702 and JP24K03018.Kei Takahashi, Hikaru Sasaki, and Takamitsu Matsubara are with the Division of Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology (NAIST), Ikoma-shi, Nara 630-0192, Japan, (e-mail: takahashi.kei.tl5@is.naist.jp, sasaki.hikaru@is.naist.jp, and takam-m@is.naist.jp)
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Robots can learn significantly better from human demonstrations when the humans receive real-time feedback about whether the robot can actually perform the demonstrated actions.