Related papers: Perception-Intention-Action Cycle in Human-Robot C…
The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…
Implicit communication is crucial in human-robot collaboration (HRC), where contextual information, such as intentions, is conveyed as implicatures, forming a natural part of human interaction. However, enabling robots to appropriately use…
Collaborative manipulation is inherently multimodal, with haptic communication playing a central role. When performed by humans, it involves back-and-forth force exchanges between the participants through which they resolve possible…
Robot understanding of human intentions is essential for fluid human-robot interaction. Intentions, however, cannot be directly observed and must be inferred from behaviors. We learn a model of adaptive human behavior conditioned on the…
To interact seamlessly with robots, users must infer the causes of a robot's behavior and be confident about that inference. Hence, trust is a necessary condition for human-robot collaboration (HRC). Despite its crucial role, it is largely…
Humans have the fascinating capacity of processing non-verbal visual cues to understand and anticipate the actions of other humans. This "intention reading" ability is underpinned by shared motor-repertoires and action-models, which we use…
Remarkable capabilities have been achieved by robotics and AI, mastering complex tasks and environments. Yet, humans often remain passive observers, fascinated but uncertain how to engage. Robots, in turn, cannot reach their full potential…
Human-robot collaboration (HRC) relies on accurate and timely recognition of human intentions to ensure seamless interactions. Among common HRC tasks, human-to-robot object handovers have been studied extensively for planning the robot's…
During collaborative tasks, human behavior is guided by multiple levels of intentions that evolve over time, such as task sequence preferences and interaction strategies. To adapt to these changing preferences and promptly correct any…
With the advances in robotic technology, research in human-robot collaboration (HRC) has gained in importance. For robots to interact with humans autonomously they need active decision making that takes human partners into account. However,…
Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…
We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…
An important open question in human-robot interaction (HRI) is precisely when an agent should decide to communicate, particularly in a cooperative task. Perceptual Control Theory (PCT) tells us that agents are able to cooperate on a joint…
Intention recognition, or the ability to anticipate the actions of another agent, plays a vital role in the design and development of automated assistants that can support humans in their daily tasks. In particular, industrial settings pose…
As robotic technology advances, the barriers to the coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, collaborative manipulation, etc., are considered the need of…
Technological progress increasingly envisions the use of robots interacting with people in everyday life. Human-robot collaboration (HRC) is the approach that explores the interaction between a human and a robot, during the completion of a…
This study investigates the issue of task allocation in Human-Machine Collaboration (HMC) within the context of Industry 4.0. By integrating philosophical insights and cognitive science, it clearly defines two typical modes of human…
Effective human-robot interaction requires robots to identify human intentions and generate expressive, socially appropriate motions in real-time. Existing approaches often rely on fixed motion libraries or computationally expensive…
Intention prediction has become a relevant field of research in Human-Machine and Human-Robot Interaction. Indeed, any artificial system (co)-operating with and along humans, designed to assist and coordinate its actions with a human…
Effective human-robot collaboration (HRC) requires translating high-level intent into contact-stable whole-body motion while continuously adapting to a human partner. Many vision-language-action (VLA) systems learn end-to-end mappings from…