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A robot as a coworker or a cohabitant is becoming mainstream day-by-day with the development of low-cost sophisticated hardware. However, an accompanying software stack that can aid the usability of the robotic hardware remains the…
The human language is one of the most natural interfaces for humans to interact with robots. This paper presents a robot system that retrieves everyday objects with unconstrained natural language descriptions. A core issue for the system is…
Natural language is perhaps the most flexible and intuitive way for humans to communicate tasks to a robot. Prior work in imitation learning typically requires each task be specified with a task id or goal image -- something that is often…
In the rapidly evolving landscape of human-robot collaboration, effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder efficiency.…
In this work, we aim to enable legged robots to learn how to interpret human social cues and produce appropriate behaviors through physical human guidance. However, learning through physical engagement can place a heavy burden on users when…
We are interested in the design of autonomous robot behaviors that learn the preferences of users over continued interactions, with the goal of efficiently executing navigation behaviors in a way that the user expects. In this paper, we…
Recent development in developing humanoid robot poses new challenges to human-machine interaction communication. A major challenge is to develop robots that can behave like and interact with human in the most natural way possible. This…
Natural-language-facilitated human-robot cooperation (NLC), in which natural language (NL) is used to share knowledge between a human and a robot for conducting intuitive human-robot cooperation (HRC), is continuously developing in the…
Many task domains require robots to interpret and act upon natural language commands which are given by people and which refer to the robot's physical surroundings. Such interpretation is known variously as the symbol grounding problem,…
Recent advances in data-driven models for grounded language understanding have enabled robots to interpret increasingly complex instructions. Two fundamental limitations of these methods are that most require a full model of the environment…
The quasi-repetitive nature of construction work and the resulting lack of generalizability in programming construction robots presents persistent challenges to the broad adoption of robots in the construction industry. Robots cannot…
The ability to combine linguistic guidance from others with direct experience is central to human development, enabling safe and rapid learning in new environments. How do people integrate these two sources of knowledge, and how might AI…
The prevailing paradigm in the domain of Open-Domain Dialogue agents predominantly focuses on the English language, encompassing both models and datasets. Furthermore, the financial and temporal investments required for crowdsourcing such…
Some robots can interact with humans using natural language, and identify service requests through human-robot dialog. However, few robots are able to improve their language capabilities from this experience. In this paper, we develop a…
Full integration of robots into real-life applications necessitates their ability to interpret and execute natural language directives from untrained users. Given the inherent variability in human language, equivalent directives may be…
Understanding user instructions in natural language is an active research topic in AI and robotics. Typically, natural user instructions are high-level and can be reduced into low-level tasks expressed in common verbs (e.g., `take', `get',…
Human-to-human conversation is not just talking and listening. It is an incremental process where participants continually establish a common understanding to rule out misunderstandings. Current language understanding methods for…
As more robots act in physical proximity to people, it is essential to ensure they make decisions and execute actions that align with human values. To do so, robots need to understand the true intentions behind human-issued commands. In…
In recent years, robots and autonomous systems have become increasingly integral to our daily lives, offering solutions to complex problems across various domains. Their application in search and rescue (SAR) operations, however, presents…
This paper presents a research platform that supports spoken dialogue interaction with multiple robots. The demonstration showcases our crafted MultiBot testing scenario in which users can verbally issue search, navigate, and follow…