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Deep learning's success in perception, natural language processing, etc. inspires hopes for advancements in autonomous robotics. However, real-world robotics face challenges like variability, high-dimensional state spaces, non-linear…
Voice-based interaction has emerged as a natural and intuitive modality for controlling IoT devices. However, speech-driven edge devices face a fundamental trade-off between cloud-based solutions, which offer stronger language understanding…
Explanations constitute an important aspect of successful human robot interactions and can enhance robot understanding. To improve the understanding of the robot, we have developed four levels of explanation (LOE) based on two questions:…
We explore the use of inner speech as a mechanism to enhance transparency and trust in social robots for dietary advice. In humans, inner speech structures thought processes and decision-making; in robotics, it improves explainability by…
Chatbots are intelligent conversational computer systems designed to mimic human conversation to enable automated online guidance and support. The increased benefits of chatbots led to their wide adoption by many industries in order to…
A key challenge in human-robot interaction research lies in developing robotic systems that can effectively perceive and interpret social cues, facilitating natural and adaptive interactions. In this work, we present a novel framework for…
The ability of a machine to communicate with humans has long been associated with the general success of AI. This dates back to Alan Turing's epoch-making work in the early 1950s, which proposes that a machine's intelligence can be tested…
This paper presents a communication framework built to simplify the construction of robotic ecologies, i.e., networks of heterogeneous computational nodes interfaced with sensors, actuators, and mobile robots. Building integrated ambient…
An important step towards enabling English language learners to improve their conversational speaking proficiency involves automated scoring of multiple aspects of interactional competence and subsequent targeted feedback. This paper builds…
Goal-oriented conversational agents are becoming prevalent in our daily lives. For these systems to engage users and achieve their goals, they need to exhibit appropriate social behavior as well as provide informative replies that guide…
In the rapidly evolving landscape of Human-Robot Collaboration (HRC), effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder…
Embodied agents, in the form of virtual agents or social robots, are rapidly becoming more widespread. In human-human interactions, humans use nonverbal behaviours to convey their attitudes, feelings, and intentions. Therefore, this…
Context: Online collaborative creation of models is becoming commonplace. Collaborative modeling using chatbots and natural language may lower the barriers to modeling for users from different domains. Objective: We compare the perceived…
TalkWithMachines aims to enhance human-robot interaction by contributing to interpretable industrial robotic systems, especially for safety-critical applications. The presented paper investigates recent advancements in Large Language Models…
Rapid advancements in foundation models, including Large Language Models, Vision-Language Models, Multimodal Large Language Models, and Vision-Language-Action Models, have opened new avenues for embodied AI in mobile service robotics. By…
Conversational AIs, or chatbots, mimic human speech when conversing. Smart assistants facilitate the automation of several tasks that needed human intervention earlier. Because of their accuracy, absence of dependence on human resources,…
In this paper, we present a planning system based on semantic reasoning for a general-purpose service robot, which is aimed at behaving more intelligently in domains that contain incomplete information, under-specified goals, and dynamic…
The use of chatbots has spread, generating great interest in the industry for the possibility of automating tasks within the execution of their processes. The implementation of chatbots, however simple, is a complex endeavor that involves…
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…
Smart space management can be done in many ways. On one hand, there are conversational assistants such as the Google Assistant or Amazon Alexa that enable users to comfortably interact with smart spaces with only their voice, but these have…