Robots Teaching Humans: A New Communication Paradigm via Reverse Teleoperation

Simulators offer a scalable platform to train robots, offering a path to creative and innovative solutions that are difficult for humans to envision a priori. We introduce a way to leverage this property, along with a new paradigm where robots discover creative solutions in simulation, then teach humans or other agents to physically execute the learned solutions via reverse teleoperation. We provide various examples ranging from learning new skills, to rehabilitation, to everyday activities, where such a system would be valuable.