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Assistive robot arms can help humans by partially automating their desired tasks. Consider an adult with motor impairments controlling an assistive robot arm to eat dinner. The robot can reduce the number of human inputs -- and how precise…

Assistive robots have the potential to help people perform everyday tasks. However, these robots first need to learn what it is their user wants them to do. Teaching assistive robots is hard for inexperienced users, elderly users, and users…

The adaptation to users' preferences and the ability to infer and interpret humans' beliefs and intents, which is known as the Theory of Mind (ToM), are two crucial aspects for achieving effective human-robot collaboration. Despite its…

Developing robots that can assist humans efficiently, safely, and adaptively is crucial for real-world applications such as healthcare. While previous work often assumes a centralized system for co-optimizing human-robot interactions, we…

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…

For robots to perform assistive tasks in unstructured home environments, they must learn and reason on the semantic knowledge of the environments. Despite a resurgence in the development of semantic reasoning architectures, these methods…

As robots are increasingly deployed in real-world scenarios, a key question is how to best transfer knowledge learned in one environment to another, where shifting constraints and human preferences render adaptation challenging. A central…

In social robotics, robots needs to be able to be understood by humans. Especially in collaborative tasks where they have to share mutual knowledge. For instance, in an educative scenario, learners share their knowledge and they must adapt…

Robots are increasingly being deployed in public spaces. However, the general population rarely has the opportunity to nominate what they would prefer or expect a robot to do in these contexts. Since most people have little or no experience…

Trust has been shown to be a key factor in effective human-robot collaboration. In the context of assistive robotics, the effect of trust factors on human experience is further pronounced. Personalization of assistive robots is an…

For robots to assist users with household tasks, they must first learn about the tasks from the users. Further, performing the same task every day, in the same way, can become boring for the robot's user(s), therefore, assistive robots must…

It is important for socially assistive robots to be able to recognize when a user needs and wants help. Such robots need to be able to recognize human needs in a real-time manner so that they can provide timely assistance. We propose an…

For long-term deployment in dynamic real-world environments, assistive robots must continue to learn and adapt to their environments. Researchers have developed various computational models for continual learning (CL) that can allow robots…

When robots enter everyday human environments, they need to understand their tasks and how they should perform those tasks. To encode these, reward functions, which specify the objective of a robot, are employed. However, designing reward…

Robots can learn preferences from human demonstrations, but their success depends on how informative these demonstrations are. Being informative is unfortunately very challenging, because during teaching, people typically get no…

Assistive robots operating in household environments would require items to be available in the house to perform assistive tasks. However, when these items run out, the assistive robot must remind its user to buy the missing items. In this…

We are interested in the design of autonomous robot behaviors that learn the preferences of users over continued interactions, with the goal of efficiently executing navigation behaviors in a way that the user expects. In this paper, we…

Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…

Recent success of machine learning in many domains has been overwhelming, which often leads to false expectations regarding the capabilities of behavior learning in robotics. In this survey, we analyze the current state of machine learning…

Humans have internal models of robots (like their physical capabilities), the world (like what will happen next), and their tasks (like a preferred goal). However, human internal models are not always perfect: for example, it is easy to…