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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…
From its inception, AI has had a rather ambivalent relationship with humans -- swinging between their augmentation and replacement. Now, as AI technologies enter our everyday lives at an ever increasing pace, there is a greater need for AI…
This paper presents an experimental platform for studying intentional-state attribution toward a non-humanoid robot. The system combines a simulated robot, realistic task environments, and large language model-based explanatory layers that…
This paper presents a novel framework for accessible and pedagogically-grounded robot explainability, designed to support human-robot interaction (HRI) with users who have diverse cognitive, communicative, or learning needs. We combine…
This paper addresses the topic of robustness under sensing noise, ambiguous instructions, and human-robot interaction. We take a radically different tack to the issue of reliable embodied AI: instead of focusing on formal verification…
Integrating robots into populated environments is a complex challenge that requires an understanding of human social dynamics. In this work, we propose to model social motion forecasting in a shared human-robot representation space, which…
Multi-agent models are a suitable starting point to model complex social interactions. However, as the complexity of the systems increase, we argue that novel modeling approaches are needed that can deal with inter-dependencies at different…
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…
Knowledge graphs are often used to represent structured information in a flexible and efficient manner, but their use in situated dialogue remains under-explored. This paper presents a novel conversational model for human--robot interaction…
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…
In human-robot interaction, robots must communicate in a natural and transparent manner to foster trust, which requires adapting their communication to the context. In this paper, we propose using Petri nets (PNs) to model contextual…
In this paper, we present an approach for robot learning of social affordance from human activity videos. We consider the problem in the context of human-robot interaction: Our approach learns structural representations of human-human (and…
Designing robots capable of generating interpretable behavior is a prerequisite for achieving effective human-robot collaboration. This means that the robots need to be capable of generating behavior that aligns with human expectations and,…
Despite living in an increasingly connected world, social isolation is a prevalent issue today. While social robots have been explored as tools to enhance social connection through companionship, their potential as asynchronous social…
We investigate interaction patterns for humans interacting with explainable and non-explainable robots. Non-explainable robots are here robots that do not explain their actions or non-actions, neither do they give any other feedback during…
As robotic technology advances, the barriers to the coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, collaborative manipulation, etc., are considered the need of…
The past few decades has seen increased interest in the application of social robots to interventions for Autism Spectrum Disorder as behavioural coaches [4]. We consider that robots embedded in therapies could also provide quantitative…
Humanoid robots have apparently similar body structure like human beings. Due to their technical design, they are sharing the same workspace with humans. They are placed to clean things, to assist old age people, to entertain us and most…
Group interactions are a natural part of our daily life, and as robots become more integrated into society, they must be able to socially interact with multiple people at the same time. However, group human-robot interaction (HRI) poses…
Building trust between humans and robots has long interested the robotics community. Various studies have aimed to clarify the factors that influence the development of user trust. In Human-Robot Interaction (HRI) environments, a critical…