Related papers: When Humans Aren't Optimal: Robots that Collaborat…
To understand and collaborate with humans, robots must account for individual human traits, habits, and activities over time. However, most robotic assistants lack these abilities, as they primarily focus on predefined tasks in structured…
The role of robots is expanding from tool to collaborator. Socially assistive robots (SARs) are an example of collaborative robots that assist humans in the real world. As robots enter our social sphere, unforeseen risks occur during…
In human-robot teams, human situational awareness is the operator's conscious knowledge of the team's states, actions, plans and their environment. Appropriate human situational awareness is critical to successful human-robot collaboration.…
When robots share the same workspace with other intelligent agents (e.g., other robots or humans), they must be able to reason about the behaviors of their neighboring agents while accomplishing the designated tasks. In practice,…
Due to their unique persuasive power, language-capable robots must be able to both act in line with human moral norms and clearly and appropriately communicate those norms. These requirements are complicated by the possibility that humans…
For robots to interact socially, they must interpret human intentions and anticipate their potential outcomes accurately. This is particularly important for social robots designed for human care, which may face potentially dangerous…
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…
Learning preferences implicit in the choices humans make is a well studied problem in both economics and computer science. However, most work makes the assumption that humans are acting (noisily) optimally with respect to their preferences.…
Intuitively, obedience -- following the order that a human gives -- seems like a good property for a robot to have. But, we humans are not perfect and we may give orders that are not best aligned to our preferences. We show that when a…
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…
In human-AI decision making, designing AI that complements human expertise has been a natural strategy to enhance human-AI collaboration, yet it often comes at the cost of decreased AI performance in areas of human strengths. This can…
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…
Collaboration requires coordination, and we coordinate by anticipating our teammates' future actions and adapting to their plan. In some cases, our teammates' actions early on can give us a clear idea of what the remainder of their plan is,…
Jointly achieving safety and efficiency in human-robot interaction (HRI) settings is a challenging problem, as the robot's planning objectives may be at odds with the human's own intent and expectations. Recent approaches ensure safe robot…
Humans are constantly influenced by others' behavior and opinions. Of importance, social influence among humans is shaped by reciprocity: we follow more the advice of someone who has been taking into consideration our opinions. In the…
Predictive human models often need to adapt their parameters online from human data. This raises previously ignored safety-related questions for robots relying on these models such as what the model could learn online and how quickly could…
This paper considers an optimal task allocation problem for human robot collaboration in human robot systems with persistent tasks. Such human robot systems consist of human operators and intelligent robots collaborating with each other to…
Robots are increasingly working alongside people, delivering food to patrons in restaurants or helping workers on assembly lines. These scenarios often involve object handovers between the person and the robot. To achieve safe and efficient…
Human-robot collaborative assembly systems enhance the efficiency and productivity of the workplace but may increase the workers' cognitive demand. This paper proposes an online and quantitative framework to assess the cognitive workload…
We introduce a novel simulation-based approach to identify hazards that result from unexpected worker behavior in human-robot collaboration. Simulation-based safety testing must take into account the fact that human behavior is variable and…