Related papers: A new approach to evaluating legibility: Comparing…

Physical interactions are inevitable part of human-robot collaboration tasks and rather than exhibiting simple reactive behaviors to human interactions, collaborative robots need to be endowed with intuitive behaviors. This paper proposes a…

Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…

This paper presents a novel layered framework that integrates visual foundation models to improve robot manipulation tasks and motion planning. The framework consists of five layers: Perception, Cognition, Planning, Execution, and Learning.…

For effective human-robot collaboration, a robot must align its actions with human goals, even as they change mid-task. Prior approaches often assume fixed goals, reducing goal prediction to a one-time inference. However, in real-world…

While Chain-of-Thought (CoT) monitoring offers a unique opportunity for AI safety, this opportunity could be lost through shifts in training practices or model architecture. To help preserve monitorability, we propose a pragmatic way to…

This paper describes and analyzes a reactive navigation framework for mobile robots in unknown environments. The approach does not rely on a global map and only considers the local occupancy in its robot-centered 3D grid structure. The…

Humans leverage multiple sensor modalities when interacting with objects and discovering their intrinsic properties. Using the visual modality alone is insufficient for deriving intuition behind object properties (e.g., which of two boxes…

The field of transparent Machine Learning (ML) has contributed many novel methods aiming at better interpretability for computer vision and ML models in general. But how useful the explanations provided by transparent ML methods are for…

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…

Due to the diffusion of IoT, modern software systems are often thought to control and coordinate smart devices in order to manage assets and resources, and to guarantee efficient behaviours. For this class of systems, which interact…

As robots and other intelligent agents move from simple environments and problems to more complex, unstructured settings, manually programming their behavior has become increasingly challenging and expensive. Often, it is easier for a…

Artificial Intelligence (AI) has significantly advanced in recent years, driving innovation across various fields, especially in robotics. Even though robots can perform complex tasks with increasing autonomy, challenges remain in ensuring…

Social robots are expected to be a human labor support technology, and one application of them is an advertising medium in public spaces. When social robots provide information, such as recommended shops, adaptive communication according to…

The success of Large Language Models (LLMs) in other domains has raised the question of whether LLMs can reliably assess and manipulate the readability of text. We approach this question empirically. First, using a published corpus of 4,724…

Context: Software programs can be written in different but functionally equivalent ways. Even though previous research has compared specific formatting elements to find out which alternatives affect code legibility, seeing the bigger…

Interpretability research aims to bridge the gap between empirical success and our scientific understanding of the inner workings of large language models (LLMs). However, most existing research focuses on analyzing a single mechanism, such…

In vegetated environments, such as forests, exploratory robots play a vital role in navigating complex, cluttered environments where human access is limited and traditional equipment struggles. Visual occlusion from obstacles, such as…

As robots increasingly enter human-centered environments, they must not only be able to navigate safely around humans, but also adhere to complex social norms. Humans often rely on non-verbal communication through gestures and facial…

Human detection and tracking is an essential task for service robots, where the combined use of multiple sensors has potential advantages that are yet to be exploited. In this paper, we introduce a framework allowing a robot to learn a new…

People who are blind perceive the world differently than those who are sighted, which can result in distinct motion characteristics. For instance, when crossing at an intersection, blind individuals may have different patterns of movement,…