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When humans design cost or goal specifications for robots, they often produce specifications that are ambiguous, underspecified, or beyond planners' ability to solve. In these cases, corrections provide a valuable tool for human-in-the-loop…
This paper explores the challenges faced by assistive robots in effectively cooperating with humans, requiring them to anticipate human behavior, predict their actions' impact, and generate understandable robot actions. The study focuses on…
Human acceptance of social robots is greatly effected by empathy and perceived understanding. This necessitates accurate and flexible responses to various input data from the user. While systems such as this can become increasingly complex…
This paper presents an overview of robot failure detection work from HRI and adjacent fields using failures as an opportunity to examine robot explanation behaviours. As humanoid robots remain experimental tools in the early 2020s,…
In social robotics, robots needs to be able to be understood by humans. Especially in collaborative tasks where they have to share mutual knowledge. For instance, in an educative scenario, learners share their knowledge and they must adapt…
It is highly desirable for robots that work alongside humans to be able to understand instructions in natural language. Existing language conditioned imitation learning models directly predict the actuator commands from the image…
In this paper, we extended the method proposed in [21] to enable humans to interact naturally with autonomous agents through vocal and textual conversations. Our extended method exploits the inherent capabilities of pre-trained large…
A robot operating in isolation needs to reason over the uncertainty in its model of the world and adapt its own actions to account for this uncertainty. Similarly, a robot interacting with people needs to reason over its uncertainty over…
Language is an effective medium for bi-directional communication in human-robot teams. To infer the meaning of many instructions, robots need to construct a model of their surroundings that describe the spatial, semantic, and metric…
The current spread of social and assistive robotics applications is increasingly highlighting the need for robots that can be easily taught and interacted with, even by users with no technical background. Still, it is often difficult to…
As collaborative robots enter industrial shop floors, logistics, and manufacturing, rapid and flexible evaluation of human-machine interaction has become more important. The availability of consumer headsets for virtual and augmented…
This paper presents a framework towards prompting multi-robot teams with high-level tasks using natural language expressions. Our objective is to use the reasoning capabilities demonstrated by recent language models in understanding and…
Human-robot interaction often occurs in the form of instructions given from a human to a robot. For a robot to successfully follow instructions, a common representation of the world and objects in it should be shared between humans and the…
Understanding robot behaviors and experiences through natural language is crucial for developing intelligent and transparent robotic systems. Recent advancement in large language models (LLMs) makes it possible to translate complex,…
Increased robot deployment, such as in warehousing, has revealed a need for seamless collaboration among heterogeneous robot teams to resolve unforeseen conflicts. To address this challenge, we propose a novel, decentralized framework for…
The representation of the knowledge needed by a robot to perform complex tasks is restricted by the limitations of perception. One possible way of overcoming this situation and designing "knowledgeable" robots is to rely on the interaction…
A long-term goal of Artificial Intelligence is to build a language understanding system that allows a human to collaborate with a physical robot using language that is natural to the human. In this paper we highlight some of the challenges…
We present a system for generating and understanding of dynamic and static spatial relations in robotic interaction setups. Robots describe an environment of moving blocks using English phrases that include spatial relations such as…
In this paper, we investigate how to design an effective interface for remote multi-human multi-robot interaction. While significant research exists on interfaces for individual human operators, little research exists for the multi-human…
Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…