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While Large Language Models (LLMs) enable complex autonomous behavior, current agents remain constrained by static, human-designed prompts that limit adaptability. Existing self-improving frameworks attempt to bridge this gap but typically…

With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…

Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…

We ran a study on engagement and achievement for a first year undergraduate programming module which used an online learning environment containing tasks which generate automated feedback. Students could also access human feedback from…

The effectiveness of human-robot interaction often hinges on the ability to cultivate engagement - a dynamic process of cognitive involvement that supports meaningful exchanges. Many existing definitions and models of engagement are either…

To enable human oversight, agentic AI systems often provide a trace of reasoning and action steps. Designing traces to have an informative, but not overwhelming, level of detail remains a critical challenge. In three user studies on a…

Artificial agents now generate behavior rich enough to invite trust, surprise, and concern, yet our evaluation tools still privilege capability scores over psychological structure. This paper argues that the philosophical impasse between…

In augmented reality (AR), where digital content is overlaid onto the real world, realistic thermal feedback has been shown to enhance immersion. Yet current thermal feedback devices, heavily influenced by the needs of virtual reality,…

The rapid advancement of chat-based language models has led to remarkable progress in complex task-solving. However, their success heavily relies on human input to guide the conversation, which can be challenging and time-consuming. This…

Haptic feedback is an important component of creating an immersive mixed reality experience. Traditionally, haptic forces are rendered in response to the user's interactions with the virtual environment. In this work, we explore the idea of…

We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…

Artificial intelligence has made remarkable strides in recent years, achieving superhuman performance across a wide range of tasks. Yet despite these advances, most cooperative AI systems remain rigidly obedient, designed to follow human…

We present and evaluate a prototype social robot to encourage daily exercise among older adults in a home setting. Our prototype system, designed to lead users through exercise sessions with motivational feedback, was assessed through a…

One way to improve the relationship between humans and anthropomorphic agents is to have humans empathize with the agents. In this study, we focused on a task between an agent and a human in which the agent makes a mistake. To investigate…

Self-sovereign Identity promises to give users control of their own data, and has the potential to foster advancements in terms of personal data privacy. Self-sovereign concepts can also be applied to other entities, such as datasets and…

We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…

The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…

With recent advancements in AI and computation tools, intelligent paradigms emerged to empower different fields such as healthcare robots with new capabilities. Advanced AI robotic algorithms (e.g., reinforcement learning) can be trained…

Humanoid robots, as general-purpose physical agents, must integrate both intelligent control and adaptive morphology to operate effectively in diverse real-world environments. While recent research has focused primarily on optimizing…

Despite the indisputable personal and societal benefits of regular physical activity, a large portion of the population does not follow the recommended guidelines, harming their health and wellness. The World Health Organization has called…