Related papers: Human-Robot Interaction via a Joint-Initiative Sup…
Recent advances in the areas of human-robot interaction (HRI) and robot autonomy are changing the world. Today robots are used in a variety of applications. People and robots work together in human autonomous teams (HATs) to accomplish…
We present a robotic setup for real-world testing and evaluation of human-robot and human-human collaborative learning. Leveraging the sample-efficiency of the Soft Actor-Critic algorithm, we have implemented a robotic platform able to…
In this work, we propose a novel shared autonomy framework to operate articulated robots. We provide strategies to design both the task-oriented hierarchical planning and policy shaping algorithms for efficient human-robot interactions in…
What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in corresponding HRC standards (e.g., ISO/TS 15066). The regime that allows collisions between the moving robot and the operator,…
Deployment of Reinforcement Learning (RL) algorithms for robotics applications in the real world requires ensuring the safety of the robot and its environment. Safe Robot RL (SRRL) is a crucial step towards achieving human-robot…
While scaling individual Large Language Models (LLMs) has delivered remarkable progress, the next frontier lies in scaling collaboration through multi-agent systems (MAS). However, purely autonomous MAS remain ''closed-world'' systems,…
This paper proposes a control method to address the physical Human-Robot Interaction (pHRI) challenge in the context of hierarchical tasks. A common approach to managing hierarchical tasks is Hierarchical Quadratic Programming (HQP), which,…
Human computer interaction is shifting from screen-based systems to multimodal interfaces where artificial intelligence powered systems increasingly interpret user intent through speech, gesture, and gaze. Yet users rarely understand how…
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…
This paper introduces a system designed to generate explanations for the actions performed by an autonomous robot in Human-Robot Interaction (HRI). Explainability in robotics, encapsulated within the concept of an eXplainable Autonomous…
Routine inspections for critical infrastructures such as bridges are required in most jurisdictions worldwide. Such routine inspections are largely visual in nature, which are qualitative, subjective, and not repeatable. Although robotic…
In this work, we present preliminary work on a novel method for Human-Swarm Interaction (HSI) that can be used to change the macroscopic behavior of a swarm of robots with decentralized sensing and control. By integrating a small yet…
We propose a set of communicative gestures and develop a gesture recognition system with the aim of facilitating more intuitive Human-Robot Interaction (HRI) through gestures. First, we propose a set of commands commonly used for…
Swarms of robots will revolutionize many industrial applications, from targeted material delivery to precision farming. Controlling the motion and behavior of these swarms presents unique challenges for human operators, who cannot yet…
Human-Scene Interaction (HSI) is a vital component of fields like embodied AI and virtual reality. Despite advancements in motion quality and physical plausibility, two pivotal factors, versatile interaction control and the development of a…
Current invasive assistive technologies are designed to infer high-dimensional motor control signals from severely paralyzed patients. However, they face significant challenges, including public acceptance, limited longevity, and barriers…
Robots that carry out tasks and interact in complex environments will inevitably commit errors. Error detection is thus an essential ability for robots to master to work efficiently and productively. People can leverage social feedback to…
Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…
Humanoid robots will be able to assist humans in their daily life, in particular due to their versatile action capabilities. However, while these robots need a certain degree of autonomy to learn and explore, they also should respect…
Human-robot interactions have been recognized to be a key element of future industrial collaborative robots (co-robots). Unlike traditional robots that work in structured and deterministic environments, co-robots need to operate in highly…