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This paper presents a novel method for introducing time into discrete and continuous spatial representations used in mobile robotics, by modelling long-term, pseudo-periodic variations caused by human activities. Unlike previous approaches,…
Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths, while enabling personalized execution of a task. However, for new soft robots with degrees of freedom dissimilar to those of human operators, it is…
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…
Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…
Human emotions are complex and can be conveyed through nuanced touch gestures. Previous research has primarily focused on how humans recognize emotions through touch or on identifying key features of emotional expression for robots.…
Typical end-to-end formulations for learning robotic navigation involve predicting a small set of steering command actions (e.g., step forward, turn left, turn right, etc.) from images of the current state (e.g., a bird's-eye view of a SLAM…
Humans can covertly track the position of an object, even if the object is temporarily occluded. What are the neural mechanisms underlying our capacity to track moving objects when there is no physical stimulus for the brain to track? One…
Humanoid robots could be versatile and intuitive human avatars that operate remotely in inaccessible places: the robot could reproduce in the remote location the movements of an operator equipped with a wearable motion capture device while…
When human listeners try to guess the spatial position of a speech source, they are influenced by the speaker's production level, regardless of the intensity level reaching their ears. Because the perception of distance is a very difficult…
This paper addresses a new problem of understanding human gaze communication in social videos from both atomic-level and event-level, which is significant for studying human social interactions. To tackle this novel and challenging problem,…
Social robots need to understand the affective state of the humans with whom they interact. Successful interactions require understanding mood and emotion in the short term, and personality and attitudes over longer periods. Social robots…
For robots to be accommodated in human spaces and in humans daily activities, robots should be able to understand messages from the human conversation partner. In the same light, humans must also understand the messages that are being…
In this paper, we propose the problem of collaborative perception, where robots can combine their local observations with those of neighboring agents in a learnable way to improve accuracy on a perception task. Unlike existing work in…
Humans often work closely together and relay a wealth of information through physical interaction. Robots, on the other hand, are not yet able to work similarly closely with humans and to effectively convey information when engaging in…
Mobile video calls are widely used to share information about real-world objects and environments with remote collaborators. While these calls provide valuable visual context in real time, the experience of interacting with people and…
Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance.…
Perspective-taking is the ability to perceive or understand a situation or concept from another individual's point of view, and is crucial in daily human interactions. Enabling robots to perform perspective-taking remains an unsolved…
Humans with an average level of social cognition can infer the beliefs of others based solely on the nonverbal communication signals (e.g. gaze, gesture, pose and contextual information) exhibited during social interactions. This social…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
Spatial relationships between objects represent key scene information for humans to understand and interact with the world. To study the capability of current computer vision systems to recognize physically grounded spatial relations, we…