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Recent advancements have enabled human-robot collaboration through physical assistance and verbal guidance. However, limitations persist in coordinating robots' physical motions and speech in response to real-time changes in human behavior…
We introduce Vocal Sandbox, a framework for enabling seamless human-robot collaboration in situated environments. Systems in our framework are characterized by their ability to adapt and continually learn at multiple levels of abstraction…
We introduce a novel paradigm for robot pro- gramming with which we aim to make robot programming more accessible for unexperienced users. In order to do so we incorporate two major components in one single framework: autonomous skill…
Human-Robot collaboration in home and industrial workspaces is on the rise. However, the communication between robots and humans is a bottleneck. Although people use a combination of different types of gestures to complement speech, only a…
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…
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…
Natural language is an effective tool for communication, as information can be expressed in different ways and at different levels of complexity. Verbal commands, utilized for instructing robot tasks, can therefor replace traditional robot…
Acting, stand-up and dancing are creative, embodied performances that nonetheless follow a script. Unless experimental or improvised, the performers draw their movements from much the same stock of embodied schemas. A slavish following of…
The number of robots deployed in our daily surroundings is ever-increasing. Even in the industrial set-up, the use of coworker robots is increasing rapidly. These cohabitant robots perform various tasks as instructed by co-located human…
In this paper, we propose theatre-in-the-loop, a framework for developing expressive robot behaviours tailored to artistic performance through a director-guided puppeteering workflow. Leveraging theatrical methods, we use narrative…
Natural language is the most intuitive medium for us to interact with other people when expressing commands and instructions. However, using language is seldom an easy task when humans need to express their intent towards robots, since most…
As multiple robots are expected to coexist in future households, natural language is increasingly envisioned as a primary medium for human-robot and robot-robot communication. This paper introduces the concept of a Natural Language…
We have a vision of a day when autonomous robots can collaborate with humans as assistants in performing complex tasks in the physical world. This vision includes that the robots will have the ability to communicate with their human…
Dancers often prototype movements themselves or with each other during improvisation and choreography. How are these interactions altered when physically manipulable technologies are introduced into the creative process? To understand how…
As robots enter human environments, they will be expected to accomplish a tremendous range of tasks. It is not feasible for robot designers to pre-program these behaviors or know them in advance, so one way to address this is through…
Machine learning and artificial intelligence have recently represented a popular paradigm for designing and optimizing robotic systems across various scales. Recent studies have showcased the innovative application of large language models…
This paper describes exploratory experiments to validate the possibility of programming autonomous robots using an agent-oriented programming language. Proper perception of the environment, by means of various types of sensors, and timely…
Language-conditioned robot manipulation is an emerging field aimed at enabling seamless communication and cooperation between humans and robotic agents by teaching robots to comprehend and execute instructions conveyed in natural language.…
Text-writing robots have been used in assistive writing and drawing applications. However, robots do not convey emotional tones in the writing process due to the lack of behaviors humans typically adopt. To examine how people interpret…
Speech is a natural interface for humans to interact with robots. Yet, aligning a robot's voice to its appearance is challenging due to the rich vocabulary of both modalities. Previous research has explored a few labels to describe robots…