Related papers: Perception-Intention-Action Cycle in Human-Robot C…
Providing artificial agents with the same computational models of biological systems is a way to understand how intelligent behaviours may emerge. We present an active inference body perception and action model working for the first time in…
Recent work in Human-Robot Interaction (HRI) has shown that robots can leverage implicit communicative signals from users to understand how they are being perceived during interactions. For example, these signals can be gaze patterns,…
Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to…
Human robot collaboration (HRC) is becoming increasingly important as the paradigm of manufacturing is shifting from mass production to mass customization. The introduction of HRC can significantly improve the flexibility and intelligence…
In collaborative human-robot manipulation, a robot must predict human intents and adapt its actions accordingly to smoothly execute tasks. However, the human's intent in turn depends on actions the robot takes, creating a chicken-or-egg…
In human-robot collaborative interaction scenarios, nonverbal communication plays an important role. Both, signals sent by a human collaborator need to be identified and interpreted by the robotic system, and the signals sent by the robot…
Robotics has long been a field riddled with complex systems architectures whose modules and connections, whether traditional or learning-based, require significant human expertise and prior knowledge. Inspired by large pre-trained language…
Reinforcement Learning (RL) agents often exhibit learning behaviors that are not intuitively interpretable by human observers, which can result in suboptimal feedback in collaborative teaching settings. Yet, how humans perceive and…
Humans make decisions and act alongside other humans to pursue both short-term and long-term goals. As a result of ongoing progress in areas such as computing science and automation, humans now also interact with non-human agents of varying…
Robots are becoming increasingly omnipresent in our daily lives, supporting us and carrying out autonomous tasks. In Human-Robot Interaction, human actors benefit from understanding the robot's motion intent to avoid task failures and…
Human-Robot Collaboration (HRC) plays an important role in assembly tasks by enabling robots to plan and adjust their motions based on interactive, real-time human instructions. However, such instructions are often linguistically ambiguous…
In human-robot collaboration (HRC), robots must adapt online to dynamic task constraints and evolving human intent. While physical corrections provide a natural, low-latency channel for operators to convey motion-level adjustments,…
Though construction robots have drawn attention in research and practice for decades, human-robot collaboration (HRC) remains important to conduct complex construction tasks. Considering its complexity and uniqueness, it is still unclear…
Relational networks within a team play a critical role in the performance of many real-world multi-robot systems. To successfully accomplish tasks that require cooperation and coordination, different agents (e.g., robots) necessitate…
Purposeful behavior in robotic assistants requires the integration of multiple components and technological advances. Often, the problem is reduced to recognizing explicit prompts, which limits autonomy, or is oversimplified through…
We design and develop a new shared Augmented Reality (AR) workspace for Human-Robot Interaction (HRI), which establishes a bi-directional communication between human agents and robots. In a prototype system, the shared AR workspace enables…
Predicting human intent is challenging yet essential to achieving seamless Human-Robot Collaboration (HRC). Many existing approaches fail to fully exploit the inherent relationships between objects, tasks, and the human model. Current…
Robotic vision for human-robot interaction and collaboration is a critical process for robots to collect and interpret detailed information related to human actions, goals, and preferences, enabling robots to provide more useful services to…
Recent years have seen human robot collaboration (HRC) quickly emerged as a hot research area at the intersection of control, robotics, and psychology. While most of the existing work in HRC focused on either low-level human-aware motion…
Human-robot collaboration (HRC) is an emerging trend of robotics that promotes the co-presence and cooperation of humans and robots in common workspaces. Physical vicinity and interaction between humans and robots, combined with the…