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As robots have become increasingly common in human-rich environments, it is critical that they are able to exhibit social cues to be perceived as a cooperative and socially-conformant team member. We investigate the effect of robot gaze…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…
With the advances in robotic technology, research in human-robot collaboration (HRC) has gained in importance. For robots to interact with humans autonomously they need active decision making that takes human partners into account. However,…
The study of human-robot interaction (HRI) has received increasing research attention for robot navigation in pedestrian crowds. In this paper, we present empirical study of pedestrian-robot interaction in an uni-directional exit corridor.…
For robots to seamlessly interact with humans, we first need to make sure that humans and robots understand one another. Diverse algorithms have been developed to enable robots to learn from humans (i.e., transferring information from…
There are many examples of cases where access to improved models of human behavior and cognition has allowed creation of robots which can better interact with humans, and not least in road vehicle automation this is a rapidly growing area…
Effective and fluent close-proximity human-robot interaction requires understanding how humans get habituated to robots and how robot motion affects human comfort. While prior work has identified humans' preferences over robot motion…
The security issue of mobile robots has attracted considerable attention in recent years. In this paper, we propose an intelligent physical attack to trap mobile robots into a preset position by learning the obstacle-avoidance mechanism…
Robotic vision for human-robot interaction and collaboration is a critical process for robots to collect and interpret detailed information related to human actions, goals, and preferences, enabling robots to provide more useful services to…
A widely accepted explanation for robots planning overcautious or overaggressive trajectories alongside human is that the crowd density exceeds a threshold such that all feasible trajectories are considered unsafe -- the freezing robot…
Many collaborative human-robot tasks require the robot to stay safe and work efficiently around humans. Since the robot can only stay safe with respect to its own model of the human, we want the robot to learn a good model of the human in…
Human-Robot-Interaction (HRI) research is typically built around the premise that the robot serves to assist a human in achieving a human-led goal or shared task. However, there are many circumstances during HRI in which a robot may need…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
Humans have a remarkable ability to fluently engage in joint collision avoidance in crowded navigation tasks despite the complexities and uncertainties inherent in human behavior. Underlying these interactions is a mutual understanding that…
When humans interact with robots influence is inevitable. Consider an autonomous car driving near a human: the speed and steering of the autonomous car will affect how the human drives. Prior works have developed frameworks that enable…
Human-robot interaction exerts influence towards the human, which often changes behavior. This article explores an externality of this changed behavior - preference change. It expands on previous work on preference change in AI systems.…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…
Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…
We often assume that robots which collaborate with humans should behave in ways that are transparent (e.g., legible, explainable). These transparent robots intentionally choose actions that convey their internal state to nearby humans: for…
Robots are becoming increasingly omnipresent in our daily lives, supporting us and carrying out autonomous tasks. In Human-Robot Interaction, human actors benefit from understanding the robot's motion intent to avoid task failures and…