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Traditional control and planning for robotic manipulation heavily rely on precise physical models and predefined action sequences. While effective in structured environments, such approaches often fail in real-world scenarios due to…
This paper presents an experimental platform for studying intentional-state attribution toward a non-humanoid robot. The system combines a simulated robot, realistic task environments, and large language model-based explanatory layers that…
Collaborative manipulation task often requires negotiation using explicit or implicit communication. An important example is determining where to move when the goal destination is not uniquely specified, and who should lead the motion. This…
The increased interest in developing next-gen social robots has raised questions about the factors affecting the perception of robot emotions. This study investigates the impact of robot appearances (humanlike, mechanical) and face regions…
Effective human-robot interaction requires robots to identify human intentions and generate expressive, socially appropriate motions in real-time. Existing approaches often rely on fixed motion libraries or computationally expensive…
This research report explores the role of eye gaze in human-robot interactions and proposes a learning system for detecting objects gazed at by humans using solely visual feedback. The system leverages face detection, human attention…
Older adults living alone have a number of challenges, and robots can help with some of them--by providing reminders, initiating activity, or offering comfort. As part of developing a cat robot with limited assistive functions, we designed…
As autonomous service robots become more affordable and thus available also for the general public, there is a growing need for user friendly interfaces to control the robotic system. Currently available control modalities typically expect…
Robotic manipulators are increasingly used to assist individuals with mobility impairments in object retrieval. However, the predominant joystick-based control interfaces can be challenging due to high precision requirements and unintuitive…
Although in the literature it is common to find predictors and inference systems that try to predict human intentions, the uncertainty of these models due to the randomness of human behavior has led some authors to start advocating the use…
With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot…
External Human-Machine Interfaces (eHMI) are widely used on robots and autonomous vehicles to convey the machine's intent to humans. Delivery robots are getting common, and they share the sidewalk along with the pedestrians. Current…
When a robot is asked to verbalize its plan it can do it in many ways. For example, a seemingly natural strategy is incremental, where the robot verbalizes its planned actions in plan order. However, an important aspect of this type of…
Human gaze is known to be a strong indicator of underlying human intentions and goals during manipulation tasks. This work studies gaze patterns of human teachers demonstrating tasks to robots and proposes ways in which such patterns can be…
Socially assistive robots could help to support people's well-being in contexts such as art therapy where human therapists are scarce, by making art such as paintings together with people in a way that is emotionally contingent and…
Today, as seen in smart speakers, spoken dialogue technology is rapidly advancing to enable human-like interaction. However, current dialogue systems cannot pay attention not only to the content of speech, but also to the way of speaking…
A Multi-robot system (MRS) provides significant advantages for intricate tasks such as environmental monitoring, underwater inspections, and space missions. However, addressing potential communication failures or the lack of communication…
Recognition of intentions is a subconscious cognitive process vital to human communication. This skill enables anticipation and increases the quality of interactions between humans. Within the context of engagement, non-verbal signals are…
Humans have an extraordinary ability to communicate and read the properties of objects by simply watching them being carried by someone else. This level of communicative skills and interpretation, available to humans, is essential for…
In the field of Geriatronics, enabling effective and transparent communication between humans and robots is crucial for enhancing the acceptance and performance of assistive robots. Our early-stage research project investigates the…