Related papers: Telerobotic Pointing Gestures Shape Human Spatial …

Pick-and-place is one of the fundamental tasks in robotics research. However, the attention has been mostly focused on the ``pick'' task, leaving the ``place'' task relatively unexplored. In this paper, we address the problem of placing…

One of the main goals of robotics and intelligent agent research is to enable natural communication with humans in physically situated settings. While recent work has focused on verbal modes such as language and speech, non-verbal…

Collaboration between human and robot requires effective modes of communication to assign robot tasks and coordinate activities. As communication can utilize different modalities, a multi-modal approach can be more expressive than single…

Physical human-robot interactions (pHRI) are less efficient and communicative than human-human interactions, and a key reason is a lack of informative sense of touch in robotic systems. Interpreting human touch gestures is a nuanced,…

Language is an effective medium for bi-directional communication in human-robot teams. To infer the meaning of many instructions, robots need to construct a model of their surroundings that describe the spatial, semantic, and metric…

As social service robots become commonplace, it is essential for them to effectively interpret human signals, such as verbal, gesture, and eye gaze, when people need to focus on their primary tasks to minimize interruptions and…

Pointing is a key mode of interaction with robots, yet most prior work has focused on recognition rather than generation. We present a motion capture dataset of human pointing gestures covering diverse styles, handedness, and spatial…

Robots coexisting with humans in their environment and performing services for them need the ability to interact with them. One particular requirement for such robots is that they are able to understand spatial relations and can place…

Gestures play a pivotal role in human communication, often serving as a preferred or complementary medium to verbal expression due to their superior spatial reference capabilities. A finger-pointing gesture conveys vital information…

Human-Robot collaboration in home and industrial workspaces is on the rise. However, the communication between robots and humans is a bottleneck. Although people use a combination of different types of gestures to complement speech, only a…

The accompanying actions and gestures in dialogue are often closely linked to interactions with the environment, such as looking toward the interlocutor or using gestures to point to the described target at appropriate moments. Speech and…

Reasoning about spatial relationships between objects is essential for many real-world robotic tasks, such as fetch-and-delivery, object rearrangement, and object search. The ability to detect and disambiguate different objects and identify…

Intelligent robots designed to interact with humans in real scenarios need to be able to refer to entities actively by natural language. In spatial referring expression generation, the ambiguity is unavoidable due to the diversity of…

Collaborative robots became a popular tool for increasing productivity in partly automated manufacturing plants. Intuitive robot teaching methods are required to quickly and flexibly adapt the robot programs to new tasks. Gestures have an…

This paper presents Words2Contact, a language-guided multi-contact placement pipeline leveraging large language models and vision language models. Our method is a key component for language-assisted teleoperation and human-robot…

Body language such as conversational gesture is a powerful way to ease communication. Conversational gestures do not only make a speech more lively but also contain semantic meaning that helps to stress important information in the…

This paper proposes a controlled experiment to further investigate the usefulness of gaze awareness and gesture recognition in the support of collaborative work at a distance. We propose to redesign experiments conducted several years ago…

Human-Robot Interaction (HRI) has become increasingly important as robots are being integrated into various aspects of daily life. One key aspect of HRI is gesture recognition, which allows robots to interpret and respond to human gestures…

Natural language provides an accessible and expressive interface to specify long-term tasks for robotic agents. However, non-experts are likely to specify such tasks with high-level instructions, which abstract over specific robot actions…

Robots learn as they interact with humans. Consider a human teleoperating an assistive robot arm: as the human guides and corrects the arm's motion, the robot gathers information about the human's desired task. But how does the human know…