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Knowledge graphs are often used to represent structured information in a flexible and efficient manner, but their use in situated dialogue remains under-explored. This paper presents a novel conversational model for human--robot interaction…
Human-robot interaction combines robotics, cognitive science, and human factors to study collaborative systems. This paper introduces a method for identifying influential robot actions using transfer entropy, a statistic that measures…
We propose a set of communicative gestures and develop a gesture recognition system with the aim of facilitating more intuitive Human-Robot Interaction (HRI) through gestures. First, we propose a set of commands commonly used for…
Integrating generative AI such as Large Language Models into social robots has improved their ability to engage in natural, human-like communication. This study presents a method to examine their persuasive capabilities. We designed an…
In the rapidly evolving landscape of human-robot collaboration, effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder efficiency.…
As social robots get more deeply integrated intoour everyday lives, they will be expected to engage in meaningful conversations and exhibit socio-emotionally intelligent listening behaviors when interacting with people. Active listening and…
TTM (Talking to Me) task is a pivotal component in understanding human social interactions, aiming to determine who is engaged in conversation with the camera-wearer. Traditional models often face challenges in real-world scenarios due to…
Partial subtle mirroring of nonverbal behaviors during conversations (also known as mimicking or parallel empathy), is essential for rapport building, which in turn is essential for optimal human-human communication outcomes. Mirroring has…
During speech, people spontaneously gesticulate, which plays a key role in conveying information. Similarly, realistic co-speech gestures are crucial to enable natural and smooth interactions with social agents. Current end-to-end co-speech…
The goal of the system presented in this paper is to develop a natural talking gesture generation behavior for a humanoid robot, by feeding a Generative Adversarial Network (GAN) with human talking gestures recorded by a Kinect. A direct…
Communicative gestures and speech acoustic are tightly linked. Our objective is to predict the timing of gestures according to the acoustic. That is, we want to predict when a certain gesture occurs. We develop a model based on a recurrent…
In this paper we present an approach for learning to imitate human behavior on a semantic level by markerless visual observation. We analyze a set of spatial constraints on human pose data extracted using convolutional pose machines and…
We present data from two online human-robot interaction experiments where 227 participants viewed videos of a humanoid robot exhibiting faulty or non-faulty behaviours while either remaining mute or speaking. The participants were asked to…
Expressive behaviors in robots are critical for effectively conveying their emotional states during interactions with humans. In this work, we present a framework that autonomously generates realistic and diverse robotic emotional…
Turn-taking is a crucial aspect of human-robot interaction, directly influencing conversational fluidity and user engagement. While previous research has explored turn-taking models in controlled environments, their robustness in real-world…
Communicating shapes our social word. For a robot to be considered social and being consequently integrated in our social environment it is fundamental to understand some of the dynamics that rule human-human communication. In this work, we…
How human-like do conversational robots need to look to enable long-term human-robot conversation? One essential aspect of long-term interaction is a human's ability to adapt to the varying degrees of a conversational partner's engagement…
Humans use semantic concepts such as spatial relations between objects to describe scenes and communicate tasks such as "Put the tea to the right of the cup" or "Move the plate between the fork and the spoon." Just as children, assistive…
We design a new approach that allows robot learning of new activities from unlabeled human example videos. Given videos of humans executing the same activity from a human's viewpoint (i.e., first-person videos), our objective is to make the…
Human emotions are complex and can be conveyed through nuanced touch gestures. Previous research has primarily focused on how humans recognize emotions through touch or on identifying key features of emotional expression for robots.…