Related papers: Balancing Shared Autonomy with Human-Robot Communi…

Robots in shared spaces often move in ways that are difficult for people to interpret, placing the burden on humans to adapt. High-DoF robots exhibit motion that people read as expressive, intentionally or not, making it important to…

Productive and efficient human-robot teaming is a highly desirable ability in service robots, yet there is a fundamental trade-off that a robot needs to consider in such tasks. On the one hand, gaining information from communication with…

Human autonomy and sense of agency are increasingly recognised as critical for user well-being, motivation, and the ethical deployment of robots in human-robot interaction (HRI). Given the rapid development of artificial intelligence, robot…

An important factor in developing control models for human-robot collaboration is how acceptable they are to their human partners. One such method for creating acceptable control models is to attempt to mimic human-like behaviour in robots…

This paper contributes a first study into how different human users deliver simultaneous control and feedback signals during human-robot interaction. As part of this work, we formalize and present a general interactive learning framework…

Intelligent robots and machines are becoming pervasive in human populated environments. A desirable capability of these agents is to respond to goal-oriented commands by autonomously constructing task plans. However, such autonomy can add…

With the advances in robotic technology, research in human-robot collaboration (HRC) has gained in importance. For robots to interact with humans autonomously they need active decision making that takes human partners into account. However,…

Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a…

Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…

Collaborative space robots are an emerging technology with high impact as robots facilitate servicing functions in collaboration with astronauts with higher precision during lengthy tasks, under tight operational schedules, with less risk…

Learning collaborative behaviors is essential for multi-agent systems. Traditionally, multi-agent reinforcement learning solves this implicitly through a joint reward and centralized observations, assuming collaborative behavior will…

Emergent behavior arising in a joint human-robot system cannot be fully predicted based on an understanding of the individual agents. Typically, robot behavior is governed by algorithms that optimize a reward function that should…

Common experience suggests that agents who know each other well are better able to work together. In this work, we address the problem of calibrating intention and capabilities in human-robot collaboration. In particular, we focus on…

Autonomous robots and drones will work collaboratively and cooperatively in tomorrow's industry and agriculture. Before this becomes a reality, some form of standardised communication between man and machine must be established that…

Robots existed as separate entities till now, but the horizons of a symbiotic human-robot partnership are impending. Despite all the recent technical advances in terms of hardware, robots are still not endowed with desirable relational…

This paper describes HARMONIC, a cognitive-robotic architecture that integrates the OntoAgent cognitive framework with general-purpose robot control systems applied to human-robot teaming (HRT). HARMONIC incorporates metacognition,…

Shared autonomy enables robots to infer user intent and assist in accomplishing it. But when the user wants to do a new task that the robot does not know about, shared autonomy will hinder their performance by attempting to assist them with…

Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…

As human-robot collaboration is becoming more widespread, there is a need for a more natural way of communicating with the robot. This includes combining data from several modalities together with the context of the situation and background…

Robots are increasingly working alongside people, delivering food to patrons in restaurants or helping workers on assembly lines. These scenarios often involve object handovers between the person and the robot. To achieve safe and efficient…