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With the increasing prevalence and diversity of robots interacting in the real world, there is need for flexible, on-the-fly planning and cooperation. Large Language Models are starting to be explored in a multimodal setup for…
A limitation for collaborative robots (cobots) is their lack of ability to adapt to human partners, who typically exhibit an immense diversity of behaviors. We present an autonomous framework as a cobot's real-time decision-making mechanism…
We have a vision of a day when autonomous robots can collaborate with humans as assistants in performing complex tasks in the physical world. This vision includes that the robots will have the ability to communicate with their human…
With the recent development of natural language generation models - termed as large language models (LLMs) - a potential use case has opened up to improve the way that humans interact with robot assistants. These LLMs should be able to…
The future will be replete with scenarios where humans are robots will be working together in complex environments. Teammates interact, and the robot's interaction has to be about getting useful information about the human's (teammate's)…
Shared autonomy enables robots to infer user intent and assist in accomplishing it. But when the user wants to do a new task that the robot does not know about, shared autonomy will hinder their performance by attempting to assist them with…
Recently the field of Human-Robot Interaction gained popularity, due to the wide range of possibilities of how robots can support humans during daily tasks. One form of supportive robots are socially assistive robots which are specifically…
Trust plays a central role in human--robot collaboration, yet its formation is rarely examined under the constraints of fully autonomous interaction. This pilot study investigated how interaction policy influences trust during in-person…
Being able to predict the mental states of others is a key factor to effective social interaction. It is also crucial for distributed multi-agent systems, where agents are required to communicate and cooperate. In this paper, we introduce…
Recent works explore collaboration between humans and teams of robots. These approaches make sense if the human is already working with the robot team; but how should robots encourage nearby humans to join their teams in the first place?…
Collaborative robotics requires effective communication between a robot and a human partner. This work proposes a set of interpretive principles for how a robotic arm can use pointing actions to communicate task information to people by…
Human-Robot-Interaction (HRI) research is typically built around the premise that the robot serves to assist a human in achieving a human-led goal or shared task. However, there are many circumstances during HRI in which a robot may need…
Adaptive task planning is fundamental to ensuring effective and seamless human-robot collaboration. This paper introduces a robot task planning framework that takes into account both human leading/following preferences and performance,…
While there are many examples in which robots provide social assistance, a lack of theory on how the robots should decide how to assist impedes progress in realizing these technologies. To address this deficiency, we propose a pair of…
When a robot performs a task next to a human, physical interaction is inevitable: the human might push, pull, twist, or guide the robot. The state-of-the-art treats these interactions as disturbances that the robot should reject or avoid.…
In many practical applications of AI, an AI model is used as a decision aid for human users. The AI provides advice that a human (sometimes) incorporates into their decision-making process. The AI advice is often presented with some measure…
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…
An important open question in human-robot interaction (HRI) is precisely when an agent should decide to communicate, particularly in a cooperative task. Perceptual Control Theory (PCT) tells us that agents are able to cooperate on a joint…
Collaborative robots require effective human intention estimation to safely and smoothly work with humans in less structured tasks such as industrial assembly, where human intention continuously changes. We propose the concept of intention…
Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…