Related papers: Planning with Verbal Communication for Human-Robot…
When humans cooperate, they frequently coordinate their activity through both verbal communication and non-verbal actions, using this information to infer a shared goal and plan. How can we model this inferential ability? In this paper, we…
Embodied robots which can interact with their environment and neighbours are increasingly being used as a test case to develop Artificial Intelligence. This creates a need for multimodal robot controllers that can operate across different…
Human-robot interaction can be divided into two categories based on the physical distance between the human and robot: remote and proximal. In proximal interaction, the human and robot often engage in close coordination; in remote…
As robots become ubiquitous in the workforce, it is essential that human-robot collaboration be both intuitive and adaptive. A robot's quality improves based on its ability to explicitly reason about the time-varying (i.e. learning curves)…
Collaborative robots, or cobots, are increasingly integrated into various industrial and service settings to work efficiently and safely alongside humans. However, for effective human-robot collaboration, robots must reason based on human…
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…
Effective physical human-robot interaction requires systems that are not only adaptable to user preferences but also transparent about their actions. This paper introduces BRIDGE, a system for bidirectional human-robot communication in…
Physical Human-Human Interaction (pHHI) involves the use of multiple sensory modalities. Studies of communication through spoken utterances and gestures are well established, but communication through force signals is not well understood.…
Humans have an extraordinary ability to communicate and read the properties of objects by simply watching them being carried by someone else. This level of communicative skills and interpretation, available to humans, is essential for…
It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…
Strategies are necessary to mitigate the impact of unexpected behavior in collaborative robotics, and research to develop solutions is lacking. Our aim here was to explore the benefits of an affective interaction, as opposed to a more…
During human-robot interaction (HRI), we want the robot to understand us, and we want to intuitively understand the robot. In order to communicate with and understand the robot, we can leverage interactions, where the human and robot…
Detecting miscommunication in human-robot interaction is a critical function for maintaining user engagement and trust. While humans effortlessly detect communication errors in conversations through both verbal and non-verbal cues, robots…
Robots interacting with the physical world plan with models of physics. We advocate that robots interacting with people need to plan with models of cognition. This writeup summarizes the insights we have gained in integrating computational…
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…
Robots that cooperate with humans must be effective at communicating with them. However, people have varied preferences for communication based on many contextual factors, such as culture, environment, and past experience. To communicate…
As environments involving both robots and humans become increasingly common, so does the need to account for people during planning. To plan effectively, robots must be able to respond to and sometimes influence what humans do. This…
Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues.…
This paper introduces our approach to building a robot with communication capability based on the two key features: stochastic neural dynamics and prediction error minimization (PEM). A preliminary experiment with humanoid robots showed…
From the earliest years of our lives, humans use language to express our beliefs and desires. Being able to talk to artificial agents about our preferences would thus fulfill a central goal of value alignment. Yet today, we lack…