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In this paper, we present a robotic navigation algorithm with natural language interfaces, which enables a robot to safely walk through a changing environment with moving persons by following human instructions such as "go to the restaurant…
This paper presents Words2Contact, a language-guided multi-contact placement pipeline leveraging large language models and vision language models. Our method is a key component for language-assisted teleoperation and human-robot…
When encountering a robot in the wild, it is not inherently clear to human users what the robot's capabilities are. When encountering misunderstandings or problems in spoken interaction, robots often just apologize and move on, without…
Robots are moving beyond industrial settings into creative, educational, and public environments where interaction is open-ended and improvisational. Yet much of human-AI-robot interaction remains framed around performance and efficiency,…
Quadruped platforms have become an active topic of research due to their high mobility and traversability in rough terrain. However, it is highly challenging to determine whether the clattered environment could be passed by the robot and…
Cooperation among humans makes it easy to execute tasks and navigate seamlessly even in unknown scenarios. With our individual knowledge and collective cognition skills, we can reason about and perform well in unforeseen situations and…
People with visual impairments (PwVI) often have difficulties navigating through unfamiliar indoor environments. However, current wayfinding tools are fairly limited. In this short paper, we present our in-progress work on a wayfinding…
This paper explores the challenges faced by assistive robots in effectively cooperating with humans, requiring them to anticipate human behavior, predict their actions' impact, and generate understandable robot actions. The study focuses on…
Good human relationships are important for us to have a happy life and maintain our well-being. Otherwise, we will be at risk of experiencing loneliness or depression. In human-computer interaction (HCI) and computer-supported cooperative…
Pointing gestures are widely used in robot navigationapproaches nowadays. However, most approaches only use point-ing gestures, and these have two major limitations. Firstly, they need to recognize pointing gestures all the time, which…
High-quality demonstrations are necessary when learning complex and challenging manipulation tasks. In this work, we introduce an approach to puppeteer a robot by controlling a virtual robot in an augmented reality setting. Our system…
The integration of humanoid and animal-shaped robots into specialized domains, such as healthcare, multi-terrain operations, and psychotherapy, necessitates a deep understanding of proxemics--the study of spatial behavior that governs…
In this work, a control scheme for human-robot collaborative object transportation is proposed, considering a quadruped robot equipped with the MIGHTY suction cup that serves both as a gripper for holding the object and a force/torque…
In this paper, we describe the development of symbolic representations annotated on human-robot dialogue data to make dimensions of meaning accessible to autonomous systems participating in collaborative, natural language dialogue, and to…
In task-oriented dialogues with symbiotic robots, the robot usually takes the initiative in dialogue progression and topic selection. In such robot-driven dialogue, the user's sense of participation in the dialogue is reduced because the…
Vehicle pedestrian communication is extremely important when developing autonomy for an autonomous vehicle. Enabling bidirectional nonverbal communication between pedestrians and autonomous vehicles will lead to an improvement of…
We envision robots that can collaborate and communicate seamlessly with humans. It is necessary for such robots to decide both what to say and how to act, while interacting with humans. To this end, we introduce a new task, dialogue object…
Guiding robots can not only detect close-range obstacles like other guiding tools, but also extend its range to perceive the environment when making decisions. However, most existing works over-simplified the interaction between human…
Recent years have seen an increasing number of applications that have a natural language interface, either in the form of chatbots or via personal assistants such as Alexa (Amazon), Google Assistant, Siri (Apple), and Cortana (Microsoft).…
Imagine a future when we can Zoom-call a robot to manage household chores remotely. This work takes one step in this direction. Robi Butler is a new household robot assistant that enables seamless multimodal remote interaction. It allows…