This project aims to motivate research in competitive human-robot interaction
by creating a robot competitor that can challenge human users in certain
scenarios such as physical exercise and games. With this goal in mind, we
introduce the Fencing Game, a human-robot competition used to evaluate both the
capabilities of the robot competitor and user experience. We develop the robot
competitor through iterative multi-agent reinforcement learning and show that
it can perform well against human competitors. Our user study additionally
found that our system was able to continuously create challenging and enjoyable
interactions that significantly increased human subjects' heart rates. The
majority of human subjects considered the system to be entertaining and
desirable for improving the quality of their exercise.

本项目通过引入多智能体强化学习，创造了一款竞争人类的机器人选手 - Fencing Game，评估了机器人选手的能力和用户体验，用户研究发现它能够持续创造具有挑战性和愉悦性的交互，能有效增加人体心率，被绝大多数受试者认为是有趣且能提升锻炼质量的系统。