Related papers: WHY: Natural Explanations from a Robot Navigator
When robots perform complex and context-dependent tasks in our daily lives, deviations from expectations can confuse users. Explanations of the robot's reasoning process can help users to understand the robot intentions. However, when to…
In this paper, we develop an embodied AI system for human-in-the-loop navigation with a wheeled mobile robot. We propose a direct yet effective method of monitoring the robot's current plan to detect changes in the environment that impact…
Providing plausible responses to why questions is a challenging but critical goal for language based human-machine interaction. Explanations are challenging in that they require many different forms of abstract knowledge and reasoning.…
On the one hand, speech is a key aspect to people's communication. On the other, it is widely acknowledged that language proficiency is related to intelligence. Therefore, intelligent robots should be able to understand, at least, people's…
We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…
We consider an autonomous navigation robot that can accept human commands through natural language to provide services in an indoor environment. These natural language commands may include time, position, object, and action components.…
One significant simplification in most previous work on robot learning is the closed-world assumption where the robot is assumed to know ahead of time a complete set of predicates describing the state of the physical world. However, robots…
When humans move in a shared space, they choose navigation strategies that preserve their mutual safety. At the same time, each human seeks to minimise the number of modifications to her/his path. In order to achieve this result, humans use…
Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…
A robot's ability to provide descriptions of its decisions and beliefs promotes effective collaboration with humans. Providing such transparency is particularly challenging in integrated robot systems that include knowledge-based reasoning…
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…
Robots operating alongside humans often encounter unfamiliar environments that make autonomous task completion challenging. Though improving models and increasing dataset size can enhance a robot's performance in unseen environments, data…
Humans have the remarkable ability to navigate through unfamiliar environments by solely relying on our prior knowledge and descriptions of the environment. For robots to perform the same type of navigation, they need to be able to…
In this paper we introduce a knowledge engine, which learns and shares knowledge representations, for robots to carry out a variety of tasks. Building such an engine brings with it the challenge of dealing with multiple data modalities…
Tactile sensors have been introduced to a wide range of robotic tasks such as robot manipulation to mimic the sense of human touch. However, there has only been a few works that integrate tactile sensing into robot navigation. This paper…
When navigating in a man-made environment they haven't visited before--like an office building--humans employ behaviors such as reading signs and asking others for directions. These behaviors help humans reach their destinations efficiently…
Implicit communication is crucial in human-robot collaboration (HRC), where contextual information, such as intentions, is conveyed as implicatures, forming a natural part of human interaction. However, enabling robots to appropriately use…
To perform tasks well in a new domain, one must first know something about it. This paper reports on a robot controller for navigation through unfamiliar indoor worlds. Based on spatial affordances, it integrates planning with reactive…
Intelligent robots are redefining a multitude of critical domains but are still far from being fully capable of assisting human peers in day-to-day tasks. An important requirement of collaboration is for each teammate to maintain and…
A significant problem in designing mobile robot control systems involves coping with the uncertainty that arises in moving about in an unknown or partially unknown environment and relying on noisy or ambiguous sensor data to acquire…