Rojda Toraman, Estimating Haptic Parameters from Human Preferences: A Bayesian Active Learning Approach
This thesis addresses the "tuning problem" in haptics by developing a human-in-the-loop Bayesian framework to estimate precise mechanical parameters from subjective preferences. The approach utilizes Gaussian Processes that learn from pairwise comparisons of different options to model latent utility functions. An Active Learning framework is adopted to intelligently select these comparison pairs. Experimental results across stiffness K, damping B, and distance D demonstrate that the model successfully converges to reference parameters. Furthermore, the study validates how coactive feedback accelerates convergence and helps the algorithm escape local optima.
Date: 22.01.2026 / 09:00 Place: A-212









