Related papers: From Movement Kinematics to Object Properties: Onl…
Retailers have long been searching for ways to effectively understand their customers' behaviour in order to provide a smooth and pleasant shopping experience that attracts more customers everyday and maximises their revenue, consequently.…
Several robot manipulation tasks are extremely sensitive to variations of the physical properties of the manipulated objects. One such task is manipulating objects by using gravity or arm accelerations, increasing the importance of mass,…
Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial parameters have only been estimated in a lab environment…
Within this work, we explore intention inference for user actions in the context of a handheld robot setup. Handheld robots share the shape and properties of handheld tools while being able to process task information and aid manipulation.…
Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…
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 robot deployments become more commonplace, people are likely to take on the role of supervising robots (i.e., correcting their mistakes) rather than directly teaching them. Prior works on Learning from Corrections (LfC) have relied on…
Intuitively, obedience -- following the order that a human gives -- seems like a good property for a robot to have. But, we humans are not perfect and we may give orders that are not best aligned to our preferences. We show that when a…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
This work explores the effect of object weight on human motion and grip release during handovers to enhance the naturalness, safety, and efficiency of robot-human interactions. We introduce adaptive robotic strategies based on the analysis…
Autonomous mobile service robots, like lawnmowers or cleaning robots, operating in human-populated environments need to reason about local human-human interactions to support safe and socially aware navigation while fulfilling their tasks.…
Developing robots that can assist humans efficiently, safely, and adaptively is crucial for real-world applications such as healthcare. While previous work often assumes a centralized system for co-optimizing human-robot interactions, we…
Robots operating alongside humans often encounter unfamiliar environments that make autonomous task completion challenging. Though improving models and increasing dataset size can enhance a robot's performance in unseen environments, data…
Performing joint interaction requires constant mutual monitoring of own actions and their effects on the other's behaviour. Such an action-effect monitoring is boosted by social cues and might result in an increasing sense of agency. Joint…
We present a framework for learning human user models from joint-action demonstrations that enables the robot to compute a robust policy for a collaborative task with a human. The learning takes place completely automatically, without any…
Dressing is a fundamental task of everyday living and robots offer an opportunity to assist people with motor impairments. While several robotic systems have explored robot-assisted dressing, few have considered how a robot can manage…
In the domain of autonomous household robots, it is of utmost importance for robots to understand human behaviors and provide appropriate services. This requires the robots to possess the capability to analyze complex human behaviors and…
Human--robot interaction requires robots whose actions are legible, allowing humans to interpret, predict, and feel safe around them. This study investigates the legibility of humanoid robot arm movements in a pointing task, aiming to…
Humans are adept at learning new tasks by watching a few instructional videos. On the other hand, robots that learn new actions either require a lot of effort through trial and error, or use expert demonstrations that are challenging to…
Human-robot collaboration requires the contactless estimation of the physical properties of containers manipulated by a person, for example while pouring content in a cup or moving a food box. Acoustic and visual signals can be used to…