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Human-robot interaction benefits greatly from multimodal sensor inputs as they enable increased robustness and generalization accuracy. Despite this observation, few HRI methods are capable of efficiently performing inference for multimodal…
We present an augmented reality human-swarm interface that combines two modalities of interaction: environment-oriented and robot-oriented. The environment-oriented modality allows the user to modify the environment (either virtual or…
Gestures are a natural form of communication between humans and can also be leveraged for human-robot interaction. This work presents a gesture-based user interface for object selection using pointing and click gestures. An experiment with…
Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…
This paper presents an innovative large language model (LLM)-based robotic system for enhancing multi-modal human-robot interaction (HRI). Traditional HRI systems relied on complex designs for intent estimation, reasoning, and behavior…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
Many children experience challenges in emotional regulation and social interaction, which can limit their participation in everyday activities and therapeutic programs. For socially assistive robots to be effective in this context, it is…
Automatic Speech Recognition (ASR) systems in real-world settings need to handle imperfect audio, often degraded by hardware limitations or environmental noise, while accommodating diverse user groups. In human-robot interaction (HRI),…
Social robots are required not only to understand human intentions but also to effectively communicate their intentions or own internal states to users. This study explores the use of sonification to provide explicit auditory feedback,…
Imitation learning is a promising approach for learning robot policies with user-provided data. The way demonstrations are provided, i.e., demonstration modality, influences the quality of the data. While existing research shows that…
Automatic robotic facial expression generation is crucial for human-robot interaction, as handcrafted methods based on fixed joint configurations often yield rigid and unnatural behaviors. Although recent automated techniques reduce the…
ffective Human-Robot Interaction (HRI) is crucial for enhancing accessibility and usability in real-world robotics applications. However, existing solutions often rely on gesture- only or language-only commands, making interaction…
Adjusting robot behavior to human preferences can require intensive human feedback, preventing quick adaptation to new users and changing circumstances. Moreover, current approaches typically treat user preferences as a reward, which…
When robots interact with humans in homes, roads, or factories the human's behavior often changes in response to the robot. Non-stationary humans are challenging for robot learners: actions the robot has learned to coordinate with the…
Children and adults with cerebral palsy (CP) can have involuntary upper limb movements as a consequence of the symptoms that characterize their motor disability, leading to difficulties in communicating with caretakers and peers. We…
Picking up objects requested by a human user is a common task in human-robot interaction. When multiple objects match the user's verbal description, the robot needs to clarify which object the user is referring to before executing the…
An important challenge in human-robot interaction (HRI) is enabling non-expert users to specify complex tasks for autonomous robots. Recently, active preference learning has been applied in HRI to interactively shape a robot's behavior. We…
Despite recent advancements in human-robot interaction (HRI), there is still limited knowledge about how humans interact and behave in the presence of small service indoor robots and, subsequently, about the human-centered behavior of such…
Humanoid robots are designed to be relatable to humans for applications such as customer support and helpdesk services. However, many such systems, including Softbank's Pepper, fall short because they fail to communicate effectively with…
Virtual reality enables users to experience real-life situations in immersive environments. Interaction methods significantly shape user experience, particularly in high fidelity simulations mimicking real world tasks. This study evaluates…