Related papers: SARI: Shared Autonomy across Repeated Interaction

Motor skill learning often requires experienced professionals who can provide personalized instruction. Unfortunately, the availability of high-quality training can be limited for specialized tasks, such as high performance racing. Several…

Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…

We propose a formalism for shared control, which is the problem of defining a policy that blends user control and autonomous control. The challenge posed by the shared autonomy system is to maintain user control authority while allowing the…

Human-Robot-Interaction (HRI) research is typically built around the premise that the robot serves to assist a human in achieving a human-led goal or shared task. However, there are many circumstances during HRI in which a robot may need…

With the rapid growth of computing powers and recent advances in deep learning, we have witnessed impressive demonstrations of novel robot capabilities in research settings. Nonetheless, these learning systems exhibit brittle generalization…

Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…

Recent works on shared autonomy and assistive-AI technologies, such as assistive robot teleoperation, seek to model and help human users with limited ability in a fixed task. However, these approaches often fail to account for humans'…

Users of shared control systems change their behavior in the presence of assistance, which conflicts with assumpts about user behavior that some assistance methods make. In this paper, we propose an analysis technique to evaluate the user's…

Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths, while enabling personalized execution of a task. However, for new soft robots with degrees of freedom dissimilar to those of human operators, it is…

This paper investigates how trust, shared understanding between a human operator and a robot, and the Locus of Control (LoC) personality trait, evolve and affect Human-Robot Interaction (HRI) in mixed-initiative robotic systems. As such…

One of the main issues in Imitation Learning is the erroneous behavior of an agent when facing out-of-distribution situations, not covered by the set of demonstrations given by the expert. In this work, we tackle this problem by introducing…

Research in multi-robot and swarm systems has seen significant interest in cooperation of agents in complex and dynamic environments. To effectively adapt to unknown environments and maximize the utility of the group, robots need to…

With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…

Current invasive assistive technologies are designed to infer high-dimensional motor control signals from severely paralyzed patients. However, they face significant challenges, including public acceptance, limited longevity, and barriers…

Shared autonomy (SA) enables robots to infer human intent and assist in its achievement. While most research focuses on improving intent inference, it overlooks whether humans can understand the robot's intent in return. Without such mutual…

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…

While there are many examples in which robots provide social assistance, a lack of theory on how the robots should decide how to assist impedes progress in realizing these technologies. To address this deficiency, we propose a pair of…

Enabling humans and robots to collaborate effectively requires purposeful communication and an understanding of each other's affordances. Prior work in human-robot collaboration has incorporated knowledge of human affordances, i.e., their…

When robots interact with human partners, often these partners change their behavior in response to the robot. On the one hand this is challenging because the robot must learn to coordinate with a dynamic partner. But on the other hand --…

Robot-Assisted Therapy (RAT) has successfully been used in Human Robot Interaction (HRI) research by including social robots in health-care interventions by virtue of their ability to engage human users in both social and emotional…