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Natural language is an effective tool for communication, as information can be expressed in different ways and at different levels of complexity. Verbal commands, utilized for instructing robot tasks, can therefor replace traditional robot…
Large-language models (LLMs) hold significant promise in improving human-robot interaction, offering advanced conversational skills and versatility in managing diverse, open-ended user requests in various tasks and domains. Despite the…
The number of robots deployed in our daily surroundings is ever-increasing. Even in the industrial set-up, the use of coworker robots is increasing rapidly. These cohabitant robots perform various tasks as instructed by co-located human…
The facial expression generation capability of humanoid social robots is critical for achieving natural and human-like interactions, playing a vital role in enhancing the fluidity of human-robot interactions and the accuracy of emotional…
Speech is a natural interface for humans to interact with robots. Yet, aligning a robot's voice to its appearance is challenging due to the rich vocabulary of both modalities. Previous research has explored a few labels to describe robots…
Human collaborators can effectively communicate with their partners to finish a common task by inferring each other's mental states (e.g., goals, beliefs, and desires). Such mind-aware communication minimizes the discrepancy among…
Embodied robots which can interact with their environment and neighbours are increasingly being used as a test case to develop Artificial Intelligence. This creates a need for multimodal robot controllers that can operate across different…
Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…
An important tradition in philosophy holds that in order to successfully perform a joint action, the participants must be capable of establishing commitments on joint goals and shared plans. This suggests that social robotics should endow…
With robotics rapidly advancing, more effective human-robot interaction is increasingly needed to realize the full potential of robots for society. While spoken language must be part of the solution, our ability to provide spoken language…
Expressive behaviors in robots are critical for effectively conveying their emotional states during interactions with humans. In this work, we present a framework that autonomously generates realistic and diverse robotic emotional…
In the field of Geriatronics, enabling effective and transparent communication between humans and robots is crucial for enhancing the acceptance and performance of assistive robots. Our early-stage research project investigates the…
In human-robot collaboration, robot errors are inevitable -- damaging user trust, willingness to work together, and task performance. Prior work has shown that people naturally respond to robot errors socially and that in social…
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…
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…
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…
In the real world, robots frequently make errors, yet little is known about people's social responses to errors outside of lab settings. Prior work has shown that social signals are reliable and useful for error management in constrained…
To coordinate actions with an interaction partner requires a constant exchange of sensorimotor signals. Humans acquire these skills in infancy and early childhood mostly by imitation learning and active engagement with a skilled partner.…
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…
In this paper, we describe the development of symbolic representations annotated on human-robot dialogue data to make dimensions of meaning accessible to autonomous systems participating in collaborative, natural language dialogue, and to…