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The end-user programming of social robot behavior is usually limited by a predefined set of movements. We are proposing a puppeteering robotic interface that provides a more intuitive method of programming robot expressive movements. As the…
YOLO is a social robot designed and developed to stimulate creativity in children through storytelling activities. Children use it as a character in their stories. This article details the artificial intelligence software developed for…
Recent years have seen an increasing number of applications that have a natural language interface, either in the form of chatbots or via personal assistants such as Alexa (Amazon), Google Assistant, Siri (Apple), and Cortana (Microsoft).…
Assistive robots have growing potential to support physical wellbeing in home and healthcare settings, for example, by guiding users through stretching or rehabilitation routines. However, existing systems remain largely scripted, which…
Ambiguity and noise in natural language instructions create a significant barrier towards adopting autonomous systems into safety critical workflows involving humans and machines. In this paper, we propose to build on recent advances in…
How should a robot speak in a formal, quiet and dark, or a bright, lively and noisy environment? By designing robots to speak in a more social and ambient-appropriate manner we can improve perceived awareness and intelligence for these…
While there has been a lot of research recently on robots in household environments, at the present time, most robots in existence can be found on shop floors, and most interactions between humans and robots happen there. ``Collaborative…
Creativity in social robots requires further attention in the interdisciplinary field of Human-Robot Interaction (HRI). This paper investigates the hypothesised connection between the perceived creative agency and the animacy of social…
Gestures are an expressive input modality for controlling multiple robots, but their use is often limited by rigid mappings and recognition constraints. To move beyond these limitations, we propose roleplaying metaphors as a scaffold for…
Large language models (LLMs) trained on code completion have been shown to be capable of synthesizing simple Python programs from docstrings [1]. We find that these code-writing LLMs can be re-purposed to write robot policy code, given…
When humans create sculptures, we are able to reason about how geometrically we need to alter the clay state to reach our target goal. We are not computing point-wise similarity metrics, or reasoning about low-level positioning of our…
This article introduces "Baby Robot", a robot aiming to improve motor skills of babies and toddlers. Authors developed a car-like toy that moves autonomously using reinforcement learning and computer vision techniques. The robot behaviour…
This paper shows the potential of a Lego\c{opyright} based low-cost commercial robotic platform for learning and testing prototypes in higher education and research. The overall setup aims to explain mobile robotic issues strongly related…
Adapting robot trajectories based on human instructions as per new situations is essential for achieving more intuitive and scalable human-robot interactions. This work proposes a flexible language-based framework to adapt generic robotic…
This paper identifies stylistic differences in instruction-giving observed in a corpus of human-robot dialogue. Differences in verbosity and structure (i.e., single-intent vs. multi-intent instructions) arose naturally without restrictions…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
In recent years, various intelligent autonomous robots have begun to appear in daily life and production. Desktop-level robots are characterized by their flexible deployment, rapid response, and suitability for light workload environments.…
We investigate the use of Large Language Models (LLMs) to equip neural robotic agents with human-like social and cognitive competencies, for the purpose of open-ended human-robot conversation and collaboration. We introduce a modular and…
The ability to interact with machines using natural human language is becoming not just commonplace, but expected. The next step is not just text interfaces, but speech interfaces and not just with computers, but with all machines including…
A robot needs contextual awareness, effective speech production and complementing non-verbal gestures for successful communication in society. In this paper, we present our end-to-end system that tries to enhance the effectiveness of…