Related papers: Balancing Efficiency and Coverage in Human-Robot D…
Recent advancements in \textit{Learning from Human Feedback} present an effective way to train robot agents via inputs from non-expert humans, without a need for a specially designed reward function. However, this approach needs a human to…
In this paper, we develop an embodied AI system for human-in-the-loop navigation with a wheeled mobile robot. We propose a direct yet effective method of monitoring the robot's current plan to detect changes in the environment that impact…
This paper describes the initial steps towards the design of a robotic system that intends to perform actions autonomously in a naturalistic play environment. At the same time it aims for social human-robot interaction~(HRI), focusing on…
Effective collaboration between a robot and a person requires natural communication. When a robot travels with a human companion, the robot should be able to explain its navigation behavior in natural language. This paper explains how a…
Artificial Intelligence (AI) has significantly advanced in recent years, driving innovation across various fields, especially in robotics. Even though robots can perform complex tasks with increasing autonomy, challenges remain in ensuring…
The development of artificial agents able to learn through dialog without domain restrictions has the potential to allow machines to learn how to perform tasks in a similar manner to humans and change how we relate to them. However,…
Robots operating in human spaces must be able to engage in natural language interaction with people, both understanding and executing instructions, and using conversation to resolve ambiguity and recover from mistakes. To study this, we…
Communication in both human-human and human-robot interac-tion (HRI) contexts consists of verbal (speech-based) and non-verbal(facial expressions, eye gaze, gesture, body pose, etc.) components.The verbal component contains semantic and…
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…
We consider a team of heterogeneous robots which are deployed within a common workspace to gather different types of data. The robots have different roles due to different capabilities: some gather data from the workspace (source robots)…
Service robots need to show appropriate social behaviour in order to be deployed in social environments such as healthcare, education, retail, etc. Some of the main capabilities that robots should have are navigation and conversational…
Service robots for the domestic environment are intended to autonomously provide support for their users. However, state-of-the-art robots still often get stuck in failure situations leading to breakdowns in the interaction flow from which…
This study presents an empirical investigation into the design and impact of autonomous dialogues in human-robot interaction for behavior change coaching. We focus on the use of Haru, a tabletop social robot, and explore the implementation…
Cooperation among humans makes it easy to execute tasks and navigate seamlessly even in unknown scenarios. With our individual knowledge and collective cognition skills, we can reason about and perform well in unforeseen situations and…
Gesture interaction is a natural way of communicating with a robot as an alternative to speech. Gesture recognition methods leverage optical flow in order to understand human motion. However, while accurate optical flow estimation (i.e.,…
This work aims to interpret human behavior to anticipate potential user confusion when a robot provides explanations for failure, allowing the robot to adapt its explanations for more natural and efficient collaboration. Using a dataset…
Assistive robot arms can help humans by partially automating their desired tasks. Consider an adult with motor impairments controlling an assistive robot arm to eat dinner. The robot can reduce the number of human inputs -- and how precise…
Despite the fact that robotic platforms can provide both consistent practice and objective assessments of users over the course of their training, there are relatively few instances where physical human robot interaction has been…
When a robot is asked to verbalize its plan it can do it in many ways. For example, a seemingly natural strategy is incremental, where the robot verbalizes its planned actions in plan order. However, an important aspect of this type of…
This paper considers a scenario where a robot and a human operator share the same workspace, and the robot is able to both carry out autonomous tasks and physically interact with the human in order to achieve common goals. In this context,…