Related papers: LEADOR: A Method for End-to-End Participatory Desi…
People who need robots are often not the same as people who can program them. This key observation in human-robot interaction (HRI) has lead to a number of challenges when developing robotic applications, since developers must understand…
Robot learning from demonstration (LfD) is a research paradigm that can play an important role in addressing the issue of scaling up robot learning. Since this type of approach enables non-robotics experts can teach robots new knowledge…
We present a participatory design method to design human-robot interactions with older adults and its application through a case study of designing an assistive robot for a senior living facility. The method, called Situated Participatory…
The realization of intelligent robots, operating autonomously and interacting with other intelligent agents, human or artificial, requires the integration of environment perception, reasoning, and action. Classic Artificial Intelligence…
Participatory Design (PD) methods are effective in understanding older adults' perspectives, concerns, and wishes and generating ideas for new intelligent aids. The aim of our study was first to map perceptions and explore the needs of…
Learning from Demonstration (LfD) offers a promising paradigm for robot skill acquisition. Recent approaches attempt to extract manipulation commands directly from video demonstrations, yet face two critical challenges: (1) general video…
Current Human-Robot Interaction (HRI) systems for skill teaching are fragmented, and existing approaches in the literature do not offer a cohesive framework that is simultaneously efficient, intuitive, and universally safe. This paper…
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…
When developing general purpose robots, the overarching software architecture can greatly affect the ease of accomplishing various tasks. Initial efforts to create unified robot systems in the 1990s led to hybrid architectures, emphasizing…
The field of Augmented Reality (AR) based Human Robot Interaction (HRI) has progressed significantly since its inception more than two decades ago. With more advanced devices, particularly head-mounted displays (HMD), freely available…
Humanoid robots, as general-purpose physical agents, must integrate both intelligent control and adaptive morphology to operate effectively in diverse real-world environments. While recent research has focused primarily on optimizing…
Dialogic learning fosters motivation and deeper understanding in education through purposeful and structured dialogues. Foundational models offer a transformative potential for child-robot interactions, enabling the design of personalized,…
Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…
Despite growing interest in Learning-by-Teaching (LbT), few studies have explored how this paradigm can be implemented with autonomous, peer-like social robots in real classrooms. Most prior work has relied on scripted or Wizard-of-Oz…
The current dominant paradigm for robotic manipulation involves two separate stages: manipulator design and control. Because the robot's morphology and how it can be controlled are intimately linked, joint optimization of design and control…
Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots. Towards this goal, we present an interactive computational design system that enables users to design…
This article presents a method for learning well-coordinated Human-Robot Interaction (HRI) from Human-Human Interactions (HHI). We devise a hybrid approach using Hidden Markov Models (HMMs) as the latent space priors for a Variational…
Robotic systems are ever more capable of automation and fulfilment of complex tasks, particularly with reliance on recent advances in intelligent systems, deep learning and artificial intelligence. However, as robots and humans come closer…
Our overall program objective is to provide more natural ways for soldiers to interact and communicate with robots, much like how soldiers communicate with other soldiers today. We describe how the Wizard-of-Oz (WOz) method can be applied…
In robotics, there is need of an interactive and expedite learning method as experience is expensive. Robot Learning from Demonstration (RLfD) enables a robot to learn a policy from demonstrations performed by teacher. RLfD enables a human…