That's the Reinforcement Learning (collaborative Q-learning) related paper:
Kartoun U., Stern H., Edan Y. 2006. Human-Robot Collaborative Learning System for Inspection. IEEE International Conference on Systems, Man, and Cybernetics. Oct. 8 - Oct. 11, 2006, Taipei, Taiwan.
Direct download:
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... and a short video:
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Thanks!
Uri.