Related papers: Expressive Robot Motion Timing
We propose a planning and control approach to physics-based manipulation. The key feature of the algorithm is that it can adapt to the accuracy requirements of a task, by slowing down and generating `careful' motion when the task requires…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
In the domain of autonomous household robots, it is of utmost importance for robots to understand human behaviors and provide appropriate services. This requires the robots to possess the capability to analyze complex human behaviors and…
The anticipation of human behavior is a crucial capability for robots to interact with humans safely and efficiently. We employ a smart edge sensor network to provide global observations, future predictions, and goal information to…
Zoomorphic robots have the potential to offer companionship and well-being as accessible, low-maintenance alternatives to pet ownership. Many such robots, however, feature limited emotional expression, restricting their potential for rich…
Robotic manipulation behavior should be robust to disturbances that violate high-level task-structure. Such robustness can be achieved by constantly monitoring the environment to observe the discrete high-level state of the task. This is…
Real-time robot actuation is one of the main challenges to overcome in human-robot interaction. Most visual sensors are either too slow or their data are too complex to provide meaningful information and low latency input to a robotic…
Recent advances in robot learning have enabled robots to become increasingly better at mastering a predefined set of tasks. On the other hand, as humans, we have the ability to learn a growing set of tasks over our lifetime. Continual robot…
We posit that embodied artificial intelligence is not only a computational, but also a materials problem. While the importance of material and structural properties in the control loop are well understood, materials can take an active role…
Generating accurate and efficient predictions for the motion of the humans present in the scene is key to the development of effective motion planning algorithms for robots moving in promiscuous areas, where wrong planning decisions could…
Human-robot interaction exerts influence towards the human, which often changes behavior. This article explores an externality of this changed behavior - preference change. It expands on previous work on preference change in AI systems.…
The gaze of a person tends to reflect their interest. This work explores what happens when this statement is taken literally and applied to robots. Here we present a robot system that employs a moving robot head with a screen-based eye…
Ideally, robots should move in ways that maximize the knowledge gained about the state of both their internal system and the external operating environment. Trajectory design is a challenging problem that has been investigated from a…
Effective human-robot interaction requires robots to identify human intentions and generate expressive, socially appropriate motions in real-time. Existing approaches often rely on fixed motion libraries or computationally expensive…
The facial expression generation capability of humanoid social robots is critical for achieving natural and human-like interactions, playing a vital role in enhancing the fluidity of human-robot interactions and the accuracy of emotional…
In human-robot collaboration, robot errors are inevitable -- damaging user trust, willingness to work together, and task performance. Prior work has shown that people naturally respond to robot errors socially and that in social…
Achieving homophily, or association based on similarity, between a human user and a robot holds a promise of improved perception and task performance. However, no previous studies that address homophily via ethnic similarity with robots…
Successful human-robot collaboration depends on cohesive communication and a precise understanding of the robot's abilities, goals, and constraints. While robotic manipulators offer high precision, versatility, and productivity, they…
The uses of robots are changing from static environments in factories to encompass novel concepts such as Human-Robot Collaboration in unstructured settings. Pre-programming all the functionalities for robots becomes impractical, and hence,…
Teleoperated robotic characters can perform expressive interactions with humans, relying on the operators' experience and social intuition. In this work, we propose to create autonomous interactive robots, by training a model to imitate…