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End-to-end learning is emerging as a powerful paradigm for robotic manipulation, but its effectiveness is limited by data scarcity and the heterogeneity of action spaces across robot embodiments. In particular, diverse action spaces across…
This paper discusses the necessary considerations and adjustments that allow a recently proposed avatar system architecture to be used with different robotic avatar morphologies (both wheeled and legged robots with various types of hands…
In robot-assisted therapy for individuals with Autism Spectrum Disorder, the workload of therapists during a therapeutic session is increased if they have to control the robot manually. To allow therapists to focus on the interaction with…
Over the past decade, Extended Reality (XR), including Virtual, Augmented, and Mixed Reality, gained attention as a research instrument in human-robot interaction studies, but remains underexplored in empirical investigations of social…
Egocentric human experience data presents a vast resource for scaling up end-to-end imitation learning for robotic manipulation. However, significant domain gaps in visual appearance, sensor modalities, and kinematics between human and…
Humans can experience fake body parts as theirs just by simple visuo-tactile synchronous stimulation. This body-illusion is accompanied by a drift in the perception of the real limb towards the fake limb, suggesting an update of body…
The development of autonomous robotic systems that can learn from human demonstrations to imitate a desired behavior - rather than being manually programmed - has huge technological potential. One major challenge in imitation learning is…
Vision-language-action (VLA) models can enable broad open world generalization, but require large and diverse datasets. It is appealing to consider whether some of this data can come from human videos, which cover diverse real-world…
Humans are increasingly interacting with machines through language, sometimes in contexts where the user may not know they are talking to a machine (like over the phone or a text chatbot). We aim to understand how system designers and…
Achieving homophily, or association based on similarity, between a human user and a robot holds a promise of improved perception and task performance. However, no previous studies that address homophily via ethnic similarity with robots…
As with every emerging technology, new tools in the hands of artists reshape the nature of artwork creation. Current frameworks for robotics in arts deploy the robot as an autonomous creator or a collaborator, thus leaving a certain gap…
One of the challenges of telepresence robotics is to provide ubiquitous social-interpersonalimmersion. In order to achieve this, there is a need to understand and model the factors that wouldallow the users to control the transmission of…
Understanding and modelling children's cognitive processes and their behaviour in the context of their interaction with robots and social artificial intelligence systems is a fundamental prerequisite for meaningful and effective robot…
Linguistic ambiguity is ubiquitous in our daily lives. Previous works adopted interaction between robots and humans for language disambiguation. Nevertheless, when interactive robots are deployed in daily environments, there are significant…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
Self-anthropomorphism in robots manifests itself through their display of human-like characteristics in dialogue, such as expressing preferences and emotions. Our study systematically analyzes self-anthropomorphic expression within various…
Spatial computing -- the ability of devices to be aware of their surroundings and to represent this digitally -- offers novel capabilities in human-robot interaction. In particular, the combination of spatial computing and egocentric…
Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…
This paper explores the concept of engagement, the process by which individuals in an interaction start, maintain and end their perceived connection to one another. The paper reports on one aspect of engagement among human interactors--the…
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…