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Top-view perspective denotes a typical way in which humans read and reason over different types of maps, and it is vital for localization and navigation of humans as well as of `non-human' agents, such as the ones backed by large…
Nonverbal behaviors, particularly gaze direction, play a crucial role in enhancing effective communication in social interactions. As social robots increasingly participate in these interactions, they must adapt their gaze based on human…
Interactive Machine Learning is concerned with creating systems that operate in environments alongside humans to achieve a task. A typical use is to extend or amplify the capabilities of a human in cognitive or physical ways, requiring the…
Tactile sensing is a widely-studied means of implicit communication between robot and human. In this paper, we investigate how tactile sensing can help bridge differences between robotic embodiments in the context of collaborative…
The emergence of vision catalysed a pivotal evolutionary advancement, enabling organisms not only to perceive but also to interact intelligently with their environment. This transformation is mirrored by the evolution of robotic systems,…
Mobile telepresence robots (MTRs) allow people to navigate and interact with a remote environment that is in a place other than the person's true location. Thanks to the recent advances in 360 degree vision, many MTRs are now equipped with…
In this work, we analyze video data and interviews from a public deployment of two trash barrel robots in a large public space to better understand the sensemaking activities people perform when they encounter robots in public spaces. Based…
Fluent human-human teaming is often characterized by tacit interaction without explicit communication. This is because explicit communication, such as language utterances and gestures, are inherently interruptive. On the other hand, tacit…
Social robots are starting to become incorporated into daily lives by assisting in the promotion of physical and mental wellbeing. This paper investigates the use of social robots for delivering mindfulness sessions. We created a…
As human-robot interaction (HRI) systems advance, so does the difficulty of evaluating and understanding the strengths and limitations of these systems in different environments and with different users. To this end, previous methods have…
Robotic tactile perception is a complex process involving several computational steps performed at different levels. Tactile information is shaped by the interplay of robot actions, the mechanical properties of its body, and the software…
Gaze is a crucial social cue in any interacting scenario and drives many mechanisms of social cognition (joint and shared attention, predicting human intention, coordination tasks). Gaze direction is an indication of social and emotional…
We propose a computational model of situated language comprehension based on the Indexical Hypothesis that generates meaning representations by translating amodal linguistic symbols to modal representations of beliefs, knowledge, and…
In this paper we present an approach for learning to imitate human behavior on a semantic level by markerless visual observation. We analyze a set of spatial constraints on human pose data extracted using convolutional pose machines and…
When working around other agents such as humans, it is important to model their perception capabilities to predict and make sense of their behavior. In this work, we consider agents whose perception capabilities are determined by their…
Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…
Service robots are expected to reliably make sense of complex, fast-changing environments. From a cognitive standpoint, they need the appropriate reasoning capabilities and background knowledge required to exhibit human-like Visual…
As human-robot collaboration is becoming more widespread, there is a need for a more natural way of communicating with the robot. This includes combining data from several modalities together with the context of the situation and background…
In this study, we present a new experiment in order to study the Lombard effect in telepresence robotics. In this experiment, one person talks with a robot controled remotely by someone in a different room. The remote pilot (R) is immersed…
For human-like agents, including virtual avatars and social robots, making proper gestures while speaking is crucial in human--agent interaction. Co-speech gestures enhance interaction experiences and make the agents look alive. However, it…