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This paper explores the use of a body-worn vibrotactile vest to convey real-time information from robot to operator. Vibrotactile communication could be useful in providing information without compropmising or loading a person's visual or…
Given a natural language instruction and an input scene, our goal is to train a model to output a manipulation program that can be executed by the robot. Prior approaches for this task possess one of the following limitations: (i) rely on…
TalkWithMachines aims to enhance human-robot interaction by contributing to interpretable industrial robotic systems, especially for safety-critical applications. The presented paper investigates recent advancements in Large Language Models…
This paper presents the design and implementation of a Human Interface for a housekeeper robot. It bases on the idea of making the robot understand the human needs without making the human go through the details of robots work, for example,…
Physical Human-Human Interaction (pHHI) involves the use of multiple sensory modalities. Studies of communication through spoken utterances and gestures are well established, but communication through force signals is not well understood.…
Text-writing robots have been used in assistive writing and drawing applications. However, robots do not convey emotional tones in the writing process due to the lack of behaviors humans typically adopt. To examine how people interpret…
Our goal is to enable robots to express their incapability, and to do so in a way that communicates both what they are trying to accomplish and why they are unable to accomplish it. We frame this as a trajectory optimization problem:…
Establishing common ground between an intelligent robot and a human requires communication of the robot's intention, behavior, and knowledge to the human to build trust and assure safety in a shared environment. This paper introduces SENSAR…
Communication robots often need to initiate conversations with people in public spaces. At the same time, such robots must not disturb pedestrians. To handle these two requirements, an agent needs to estimate the communication desires of…
The primary objective is to teach a machine about human emotions, which has become an essential requirement in the field of social intelligence, also expedites the progress of human-machine interactions. The ability of a machine to…
Emotion recognition,as a step toward mind reading,seeks to infer internal states from external cues.Most existing methods rely on explicit signals-such as facial expressions,speech,or gestures-that reflect only bodily responses and overlook…
Zoomorphic robots have the potential to offer companionship and well-being as accessible, low-maintenance alternatives to pet ownership. Many such robots, however, feature limited emotional expression, restricting their potential for rich…
This work presents a next-generation human-robot interface that can infer and realize the user's manipulation intention via sight only. Specifically, we develop a system that integrates near-eye-tracking and robotic manipulation to enable…
Human intention-based systems enable robots to perceive and interpret user actions to interact with humans and adapt to their behavior proactively. Therefore, intention prediction is pivotal in creating a natural interaction with social…
We address goal-based imitation learning, where the aim is to output the symbolic goal from a third-person video demonstration. This enables the robot to plan for execution and reproduce the same goal in a completely different environment.…
Collaborative robotics requires effective communication between a robot and a human partner. This work proposes a set of interpretive principles for how a robotic arm can use pointing actions to communicate task information to people by…
People have the ability to make sensible assumptions about other people's emotional states by being sympathetic, and because of our common sense of knowledge and the ability to think visually. Over the years, much research has been done on…
Assistive robotic systems have shown growing potential to improve the quality of life of those with disabilities. As researchers explore the automation of various caregiving tasks, considerations for how the technology can still preserve…
Service and assistive robots are increasingly being deployed in dynamic social environments; however, ensuring transparent and explainable interactions remains a significant challenge. This paper presents a multimodal explainability module…
The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast,…