Related papers: Safety Assurances for Human-Robot Interaction via …

This paper addresses the topic of robustness under sensing noise, ambiguous instructions, and human-robot interaction. We take a radically different tack to the issue of reliable embodied AI: instead of focusing on formal verification…

For a foreseeable future, autonomous vehicles (AVs) will operate in traffic together with human-driven vehicles. Their planning and control systems need extensive testing, including early-stage testing in simulations where the interactions…

Robots can support humans in tedious tasks, as well as provide social support. However, the decision-making and behavior of robots is not always clear to the human interaction partner. In this work, we discuss the opportunity of using…

While much research explores improving robot capabilities, there is a deficit in researching how robots are expected to perform tasks safely, especially in high-risk problem domains. Robots must earn the trust of human operators in order to…

The mental models that humans form of other agents---encapsulating human beliefs about agent goals, intentions, capabilities, and more---create an underlying basis for interaction. These mental models have the potential to affect both the…

We propose a framework for vision-based human pose estimation and motion prediction that gives conformal prediction guarantees for certifiably safe human-robot collaboration. Our framework combines aleatoric uncertainty estimation with OOD…

As robots get more integrated into human environments, fostering trustworthiness in embodied robotic agents becomes paramount for an effective and safe human-robot interaction (HRI). To achieve that, HRI applications must promote human…

Tactile interaction plays an essential role in human-to-human interaction. People gain comfort and support from tactile interactions with others and touch is an important predictor for trust. While touch has been explored as a communicative…

Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many…

Robot capabilities are maturing across domains, from self-driving cars, to bipeds and drones. As a result, robots will soon no longer be confined to safety-controlled industrial settings; instead, they will directly interact with the…

As more and more social robots are being used for collaborative activities with humans, it is crucial to investigate mechanisms to facilitate trust in the human-robot interaction. One such mechanism is humour: it has been shown to increase…

In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…

As robots become more prevalent, the complexity of robot-robot, robot-human, and robot-environment interactions increases. In these interactions, a robot needs to consider not only the effects of its own actions, but also the effects of…

Planning safe robot motions in the presence of humans requires reliable forecasts of future human motion. However, simply predicting the most likely motion from prior interactions does not guarantee safety. Such forecasts fail to model the…

Unthinking execution of human instructions in robotic manipulation can lead to severe safety risks, such as poisonings, fires, and even explosions. In this paper, we present responsible robotic manipulation, which requires robots to…

Robots in shared workspaces must interpret human actions from partial, ambiguous observations, where overconfident early predictions can lead to unsafe or disruptive interaction. This challenge is amplified in egocentric views, where…

Socially assistive robots provide physical and mental assistance for humans via cognitive human-machine interactions. These robots should sustain long-term engaging interactions with humans in a similar way humans interact with each other.…

Our goal is to model and experimentally assess trust evolution to predict future beliefs and behaviors of human-robot teams in dynamic environments. Research suggests that maintaining trust among team members in a human-robot team is vital…

Trust in automation, or more recently trust in autonomy, has received extensive research attention in the past two decades. The majority of prior literature adopted a "snapshot" view of trust and typically evaluated trust through…

Safety assurance is a critical yet challenging aspect when developing self-driving technologies. Hamilton-Jacobi backward-reachability analysis is a formal verification tool for verifying the safety of dynamic systems in the presence of…