{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,11]],"date-time":"2026-03-11T10:29:43Z","timestamp":1773224983646,"version":"3.50.1"},"reference-count":195,"publisher":"Association for Computing Machinery (ACM)","issue":"2","content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["J. Hum.-Robot Interact."],"published-print":{"date-parts":[[2026,3,31]]},"abstract":"<jats:p>\n                    Robot learning from humans has been proposed and researched for several decades as a means to enable robots to learn new skills or adapt existing ones to new situations. Recent advances in AI, including learning approaches like reinforcement learning and architectures like transformers and foundation models, combined with access to massive datasets, have created attractive opportunities to apply those data-hungry techniques to this problem. We argue that the focus on massive amounts of pre-collected data, and the resulting learning paradigm, where humans demonstrate and robots learn in isolation, is overshadowing a specialized area of work we term Human-Interactive Robot Learning (HIRL). This paradigm, wherein robots and humans interact\n                    <jats:italic toggle=\"yes\">during the learning process<\/jats:italic>\n                    , is at the intersection of multiple fields (AI, robotics, human\u2013computer interaction, design and others) and holds unique promise. Using HIRL, robots can achieve greater sample efficiency (as humans can provide task knowledge through interaction), align with human preferences (as humans can guide the robot behavior toward their expectations), and explore more meaningfully and safely (as humans can utilize domain knowledge to guide learning and prevent catastrophic failures). This can result in robotic systems that can more quickly and easily adapt to new tasks in human environments. The objective of this article is to provide a broad and consistent overview of HIRL research and to guide researchers toward understanding the scope of HIRL, and current open or underexplored challenges related to four themes\u2014namely, human, robot learning, interaction, and broader context. The article includes concrete use cases to illustrate the interaction between these challenges and inspire further research according to broad recommendations and a call for action for the growing HIRL community.\n                  <\/jats:p>","DOI":"10.1145\/3779297","type":"journal-article","created":{"date-parts":[[2025,12,9]],"date-time":"2025-12-09T16:17:08Z","timestamp":1765297028000},"page":"1-31","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["Human-Interactive Robot Learning: Definition, Challenges, and Recommendations"],"prefix":"10.1145","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4381-4234","authenticated-orcid":false,"given":"Kim","family":"Baraka","sequence":"first","affiliation":[{"name":"Vrije Universiteit Amsterdam, Amsterdam, Netherlands"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0693-0711","authenticated-orcid":false,"given":"Ifrah","family":"Idrees","sequence":"additional","affiliation":[{"name":"Brown University, Providence, Rhode Island, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5838-0021","authenticated-orcid":false,"given":"Taylor","family":"Kessler Faulkner","sequence":"additional","affiliation":[{"name":"University of Washington, Seattle, Washington, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9516-3130","authenticated-orcid":false,"given":"Erdem","family":"Biyik","sequence":"additional","affiliation":[{"name":"University of Southern California, Los Angeles, California, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7738-4418","authenticated-orcid":false,"given":"Serena","family":"Booth","sequence":"additional","affiliation":[{"name":"Brown University, Providence, Rhode Island, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2920-4539","authenticated-orcid":false,"given":"Mohamed","family":"Chetouani","sequence":"additional","affiliation":[{"name":"Institut des Syst\u00e8mes Intelligents et de Robotique, Sorbonne University, CNRS, Paris, France"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8757-727X","authenticated-orcid":false,"given":"Daniel H.","family":"Grollman","sequence":"additional","affiliation":[{"name":"Plus One Robotics Inc., Boulder, Colorado, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9637-6699","authenticated-orcid":false,"given":"Akanksha","family":"Saran","sequence":"additional","affiliation":[{"name":"Sony AI, San Francisco, California, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7160-4352","authenticated-orcid":false,"given":"Emmanuel","family":"Senft","sequence":"additional","affiliation":[{"name":"Idiap Research Institute, Martigny, Switzerland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6826-370X","authenticated-orcid":false,"given":"Silvia","family":"Tulli","sequence":"additional","affiliation":[{"name":"Sorbonne University, CNRS, Paris, France"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9378-7249","authenticated-orcid":false,"given":"Anna-Lisa","family":"Vollmer","sequence":"additional","affiliation":[{"name":"Bielefeld University, Bielefeld, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6641-6450","authenticated-orcid":false,"given":"Antonio","family":"Andriella","sequence":"additional","affiliation":[{"name":"Artificial Intelligence Research Institute (IIIA-CSIC), Barcelona, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4159-6608","authenticated-orcid":false,"given":"Helen","family":"Beierling","sequence":"additional","affiliation":[{"name":"Bielefeld University, Bielefeld, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-1358-1912","authenticated-orcid":false,"given":"Tiffany","family":"Horter","sequence":"additional","affiliation":[{"name":"University of Oxford, Oxford, United Kingdom of Great Britain and Northern Ireland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7257-5434","authenticated-orcid":false,"given":"Jens","family":"Kober","sequence":"additional","affiliation":[{"name":"TU Delft, Delft, Netherlands"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-4487-8357","authenticated-orcid":false,"given":"Isaac","family":"Sheidlower","sequence":"additional","affiliation":[{"name":"Tufts University, Medford, Massachusetts, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8946-0211","authenticated-orcid":false,"given":"Matthew E.","family":"Taylor","sequence":"additional","affiliation":[{"name":"University of Alberta &amp; 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