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In this paper, we propose theatre-in-the-loop, a framework for developing expressive robot behaviours tailored to artistic performance through a director-guided puppeteering workflow. Leveraging theatrical methods, we use narrative…

As robots increasingly become part of shared human spaces, their movements must transcend basic functionality by incorporating expressive qualities to enhance engagement and communication. This paper introduces a movement-centered design…

Embodiment is an important characteristic for all intelligent agents (creatures and robots), while existing scene description tasks mainly focus on analyzing images passively and the semantic understanding of the scenario is separated from…

Dancers often prototype movements themselves or with each other during improvisation and choreography. How are these interactions altered when physically manipulable technologies are introduced into the creative process? To understand how…

Gestures are an expressive input modality for controlling multiple robots, but their use is often limited by rigid mappings and recognition constraints. To move beyond these limitations, we propose roleplaying metaphors as a scaffold for…

In this paper, we explore how performers' embodied interactions with a Neural Audio Synthesis model allow the exploration of the latent space of such a model, mediated through movements sensed by e-textiles. We provide background and…

As robotic systems are moved out of factory work cells into human-facing environments questions of choreography become central to their design, placement, and application. With a human viewer or counterpart present, a system will…

Human-robot interaction is increasingly moving toward multi-robot, socially grounded environments. Existing systems struggle to integrate multimodal perception, embodied expression, and coordinated decision-making in a unified framework.…

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.…

In social robotics, endowing humanoid robots with the ability to generate bodily expressions of affect can improve human-robot interaction and collaboration, since humans attribute, and perhaps subconsciously anticipate, such traces to…

Creating an immersive and interactive theatrical experience is a long-term goal in the field of interactive narrative. The emergence of large language models (LLMs) provides a new path to achieve this goal. However, existing drama…

This paper presents a principled way to think about articulated movement for artificial agents and a measurement of platforms that produce such movement. In particular, in human-facing scenarios, the shape evolution of robotic platforms…

We present ReTracing, a multi-agent embodied performance art that adopts an archaeological approach to examine how artificial intelligence shapes, constrains, and produces bodily movement. Drawing from science-fiction novels, the project…

Learning physical interaction skills, such as dancing, handshaking, or sparring, remains a fundamental challenge for agents operating in human environments, particularly when the agent's morphology differs significantly from that of the…

As artificial intelligence shifts from pure tool for delegation toward agentic collaboration, its use in the arts can shift beyond the exploration of machine autonomy toward synergistic co-creation. While our earlier robotic works utilized…

This paper presents a computational model of the processing of dynamic spatial relations occurring in an embodied robotic interaction setup. A complete system is introduced that allows autonomous robots to produce and interpret dynamic…

Interacting with human agents in complex scenarios presents a significant challenge for robotic navigation, particularly in environments that necessitate both collision avoidance and collaborative interaction, such as indoor spaces. Unlike…

"How can we animate 3D-characters from a movie script or move robots by simply telling them what we would like them to do?" "How unstructured and complex can we make a sentence and still generate plausible movements from it?" These are…

What we appreciate in dance is the ability of people to sponta- neously improvise new movements and choreographies, sur- rendering to the music rhythm, being inspired by the cur- rent perceptions and sensations and by previous experiences,…

As with every emerging technology, new tools in the hands of artists reshape the nature of artwork creation. Current frameworks for robotics in arts deploy the robot as an autonomous creator or a collaborator, thus leaving a certain gap…