Related papers: Balancing Shared Autonomy with Human-Robot Communi…
Shared control problems involve a robot learning to collaborate with a human. When learning a shared control policy, short communication between the agents can often significantly reduce running times and improve the system's accuracy. We…
In human-robot interactions, human and robot agents maintain internal mental models of their environment, their shared task, and each other. The accuracy of these representations depends on each agent's ability to perform theory of mind,…
A good estimation of the actions' cost is key in task planning for human-robot collaboration. The duration of an action depends on agents' capabilities and the correlation between actions performed simultaneously by the human and the robot.…
Manufacturing requires consistent production rate and task success for sustainable operation. Some manufacturing tasks require a semi-autonomous approach, exploiting the combination of human adaptability and machine precision and speed, to…
Explainable AI techniques that describe agent reward functions can enhance human-robot collaboration in a variety of settings. One context where human understanding of agent reward functions is particularly beneficial is in the value…
In the context of teleoperation, arbitration refers to deciding how to blend between human and autonomous robot commands. We present a reinforcement learning solution that learns an optimal arbitration strategy that allocates more control…
In recent years, autonomous agents have surged in real-world environments such as our homes, offices, and public spaces. However, natural human-robot interaction remains a key challenge. In this paper, we introduce an approach that…
Achieving effective and seamless human-robot collaboration requires two key outcomes: enhanced team performance and fostering a positive human perception of both the robot and the collaboration. This paper investigates the capability of the…
Effective collaboration between humans and AI-based systems requires effective modeling of the human in the loop, both in terms of the mental state as well as the physical capabilities of the latter. However, these models can also open up…
In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…
Enabling humans and robots to collaborate effectively requires purposeful communication and an understanding of each other's affordances. Prior work in human-robot collaboration has incorporated knowledge of human affordances, i.e., their…
Bidirectional object handover between a human and a robot enables an important functionality skill in robotic human-centered manufacturing or services. The problem in achieving this skill lies in the capacity of any solution to deal with…
Shared autonomy (SA) enables robots to infer human intent and assist in its achievement. While most research focuses on improving intent inference, it overlooks whether humans can understand the robot's intent in return. Without such mutual…
In this paper, we place ourselves in the context of human robot interaction and address the problem of cognitive robot modelling. More precisely we are investigating properties of a utility-based model that will govern a robot's actions.…
A striking limitation of human cognition is our inability to execute some tasks simultaneously. Recent work suggests that such limitations can arise from a fundamental tradeoff in network architectures that is driven by the sharing of…
Shared autonomy functions as a flexible framework that empowers robots to operate across a spectrum of autonomy levels, allowing for efficient task execution with minimal human oversight. However, humans might be intimidated by the…
Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…
In most cases, upgrading from a single-robot system to a multi-robot system comes with increases in system payload and task performance. On the other hand, many multi-robot systems in open environments still rely on teleoperation.…
Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform…
Nonverbal visual symbols and displays play an important role in communication when humans and robots work collaboratively. However, few studies have investigated how different types of non-verbal cues affect objective task performance,…