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Purposeful behavior in robotic assistants requires the integration of multiple components and technological advances. Often, the problem is reduced to recognizing explicit prompts, which limits autonomy, or is oversimplified through…

In shared autonomy, a user and autonomous system work together to achieve shared goals. To collaborate effectively, the autonomous system must know the user's goal. As such, most prior works follow a predict-then-act model, first predicting…

Recent advances in the areas of human-robot interaction (HRI) and robot autonomy are changing the world. Today robots are used in a variety of applications. People and robots work together in human autonomous teams (HATs) to accomplish…

Effective robotic systems for long-horizon human-robot collaboration must adapt to a wide range of human partners, whose physical behavior, willingness to assist, and understanding of the robot's capabilities may change over time. This…

Collaborative manipulation is inherently multimodal, with haptic communication playing a central role. When performed by humans, it involves back-and-forth force exchanges between the participants through which they resolve possible…

As general purpose robots become more capable, pre-programming of all tasks at the factory will become less practical. We would like for non-technical human owners to be able to communicate, through interaction with their robot, the details…

In human-robot cooperation, the robot cooperates with humans to accomplish the task together. Existing approaches assume the human has a specific goal during the cooperation, and the robot infers and acts toward it. However, in real-world…

Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…

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…

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…

We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…

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…

When agents collaborate on a task, it is important that they have some shared mental model of the task routines -- the set of feasible plans towards achieving the goals. However, in reality, situations often arise that such a shared mental…

Tasks where robots must anticipate human intent, such as navigating around a cluttered home or sorting everyday items, are challenging because they exhibit a wide range of valid actions that lead to similar outcomes. Moreover, zero-shot…

As the autonomy and capabilities of robotic systems increase, they are expected to play the role of teammates rather than tools and interact with human collaborators in a more realistic manner, creating a more human-like relationship. Given…

This paper demonstrates the groundwork for the structure and nature of Human-Robot Cognitive Coupling.The human mind is best at associating objects, while digital devices can only compare. Successful communication between robot and human…

Collaborative robots, or cobots, are increasingly integrated into various industrial and service settings to work efficiently and safely alongside humans. However, for effective human-robot collaboration, robots must reason based on human…

Remarkable capabilities have been achieved by robotics and AI, mastering complex tasks and environments. Yet, humans often remain passive observers, fascinated but uncertain how to engage. Robots, in turn, cannot reach their full potential…

Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…

As robots become ubiquitous in the workforce, it is essential that human-robot collaboration be both intuitive and adaptive. A robot's quality improves based on its ability to explicitly reason about the time-varying (i.e. learning curves)…