Related papers: Planning with Verbal Communication for Human-Robot…

Bridging the gap between natural language commands and autonomous execution in unstructured environments remains an open challenge for robotics. This requires robots to perceive and reason over the current task scene through multiple…

The mental models that humans form of other agents---encapsulating human beliefs about agent goals, intentions, capabilities, and more---create an underlying basis for interaction. These mental models have the potential to affect both the…

In human-robot teams where agents collaborate together, there needs to be a clear allocation of tasks to agents. Task allocation can aid in achieving the presumed benefits of human-robot teams, such as improved team performance. Many task…

As human-robot collaboration advances, natural and flexible communication methods are essential for effective robot control. Traditional methods relying on a single modality or rigid rules struggle with noisy or misaligned data as well as…

Intelligent agents such as robots are increasingly deployed in real-world, safety-critical settings. It is vital that these agents are able to explain the reasoning behind their decisions to human counterparts; however, their behavior is…

Navigation is a must-have skill for any mobile robot. A core challenge in navigation is the need to account for an ample number of possible configurations of environment and navigation contexts. We claim that a mobile robot should be able…

Adaptive task planning is fundamental to ensuring effective and seamless human-robot collaboration. This paper introduces a robot task planning framework that takes into account both human leading/following preferences and performance,…

We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…

Research in social robotics is commonly focused on designing robots that imitate human behavior. While this might increase a user's satisfaction and acceptance of robots at first glance, it does not automatically aid a non-expert user in…

One of the most challenging coordination problems in artificial intelligence is to achieve successful collaboration across large-scale heterogeneous systems that include Robots, Agents, and People (RAP). In the best case, these RAP systems…

For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…

Cooperation among humans makes it easy to execute tasks and navigate seamlessly even in unknown scenarios. With our individual knowledge and collective cognition skills, we can reason about and perform well in unforeseen situations and…

This paper proposes a robot action planning scheme that provides an efficient and probabilistically safe plan for a robot interacting with an unconcerned human -- someone who is either unaware of the robot's presence or unwilling to engage…

To enable robots to instruct humans in collaborations, we identify several aspects of language processing that are not commonly studied in this context. These include location, planning, and generation. We suggest evaluations for each task,…

This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative temporal logic task specification. To…

Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…

Cooperative communication plays a central role in theories of human cognition, language, development, culture, and human-robot interaction. Prior models of cooperative communication are algorithmic in nature and do not shed light on why…

We propose and demonstrate the task of giving natural language summaries of the actions of a robotic agent in a virtual environment. We explain why such a task is important, what makes it difficult, and discuss how it might be addressed. To…

Humans make decisions and act alongside other humans to pursue both short-term and long-term goals. As a result of ongoing progress in areas such as computing science and automation, humans now also interact with non-human agents of varying…

When cooperating with a human, a robot should not only care about its environment and task but also develop an understanding of the partner's reasoning. To support its human partner in complex tasks, the robot can share information that it…