Related papers: Human Intention Estimation based on Hidden Markov …

We present a substantial extension of our Human-Aware Task Planning framework, tailored for scenarios with intermittent shared execution experiences and significant belief divergence between humans and robots, particularly due to the…

This paper proposes an intent-aware multi-agent planning framework as well as a learning algorithm. Under this framework, an agent plans in the goal space to maximize the expected utility. The planning process takes the belief of other…

Large-scale pre-training has fundamentally changed how machine learning research is done today: large foundation models are trained once, and then can be used by anyone in the community (including those without data or compute resources to…

Humans continuously infer the states, goals, and behaviors of others by perceiving their surroundings in dynamic, real-world social interactions. However, most Theory of Mind (ToM) benchmarks only evaluate static, text-based scenarios,…

In human-robot collaboration, the objectives of the human are often unknown to the robot. Moreover, even assuming a known objective, the human behavior is also uncertain. In order to plan a robust robot behavior, a key preliminary question…

Embodied foundation models have achieved significant breakthroughs in robotic manipulation, yet they still depend heavily on large-scale robot demonstrations. Although recent works have explored leveraging human data to alleviate this…

Trust in autonomy is essential for effective human-robot collaboration and user adoption of autonomous systems such as robot assistants. This paper introduces a computational model which integrates trust into robot decision-making.…

Large Language Models (LLMs) have sparked substantial interest and debate concerning their potential emergence of Theory of Mind (ToM) ability. Theory of mind evaluations currently focuses on testing models using machine-generated data or…

A growing body of work attempts to evaluate the theory of mind (ToM) abilities of humans and large language models (LLMs) using static, non-interactive question-and-answer benchmarks. However, theoretical work in the field suggests that…

Nowadays, robots are found in a growing number of areas where they collaborate closely with humans. Enabled by lightweight materials and safety sensors, these cobots are gaining increasing popularity in domestic care, supporting people with…

The future where the industrial shop-floors witness humans and robots working in unison and the domestic households becoming a shared space for both these agents is not very far. The scientific community has been accelerating towards that…

Robots are becoming increasingly integrated into our lives, assisting us in various tasks. To ensure effective collaboration between humans and robots, it is essential that they understand our intentions and anticipate our actions. In this…

We present an integrated Task-Motion Planning (TMP) framework for navigation in large-scale environment. Autonomous robots operating in real world complex scenarios require planning in the discrete (task) space and the continuous (motion)…

Human social interactions depend on the ability to infer others' unspoken intentions, emotions, and beliefs-a cognitive skill grounded in the psychological concept of Theory of Mind (ToM). While large language models (LLMs) excel in…

Employing skin-like tactile sensors on robots enhances both the safety and usability of collaborative robots by adding the capability to detect human contact. Unfortunately, simple binary tactile sensors alone cannot determine the context…

There are many situations in which it would be beneficial for a robot to have predictive abilities similar to those of rational humans. Some of these situations include collaborative robots, robots in adversarial situations, and for dynamic…

The ability to understand and predict the mental states of oneself and others, known as the Theory of Mind (ToM), is crucial for effective social scenarios. Although recent studies have evaluated ToM in Large Language Models (LLMs),…

Predicting human motion is critical for assistive robots and AR/VR applications, where the interaction with humans needs to be safe and comfortable. Meanwhile, an accurate prediction depends on understanding both the scene context and human…

Intent inferencing in teleoperation has been instrumental in aligning operator goals and coordinating actions with robotic partners. However, current intent inference methods often ignore subtle motion that can be strong indicators for a…

Recent work has considered trust-aware decision making for human-robot collaboration (HRC) with a focus on model learning. In this paper, we are interested in enabling the HRC system to complete complex tasks specified using temporal logic…