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This paper proposes an Interactive Inference Behavior Tree (IIBT) framework that integrates behavior trees (BTs) with active inference under the free energy principle for distributed multi-robot decision-making. The proposed IIBT node…

For a robot to learn a good policy, it often requires expensive equipment (such as sophisticated sensors) and a prepared training environment conducive to learning. However, it is seldom possible to perfectly equip robots for economic…

The ability of modeling the other agents, such as understanding their intentions and skills, is essential to an agent's interactions with other agents. Conventional agent modeling relies on passive observation from demonstrations. In this…

Robots assisting us in environments such as factories or homes must learn to make use of objects as tools to perform tasks, for instance using a tray to carry objects. We consider the problem of learning commonsense knowledge of when a tool…

Modern digital ecosystems feature complex, dynamic interactions among autonomous entities across diverse domains. Traditional models often separate agents and objects, lacking a unified foundation to capture their interactive behaviors.…

Situationally-aware artificial agents operating with competence in natural environments face several challenges: spatial awareness, object affordance detection, dynamic changes and unpredictability. A critical challenge is the agent's…

The aim of my Ph.D. thesis concerns Reasoning in Highly Reactive Environments. As reasoning in highly reactive environments, we identify the setting in which a knowledge-based agent, with given goals, is deployed in an environment subject…

This article proposes an emotive lifelike robotic face, called ExpressionBot, that is designed to support verbal and non-verbal communication between the robot and humans, with the goal of closely modeling the dynamics of natural…

An important aspect of developing conversational agents is to give a bot the ability to improve through communicating with humans and to learn from the mistakes that it makes. Most research has focused on learning from fixed training sets…

The visual world is very rich and generally too complex to perceive in its entirety. Yet only certain features are typically required to adequately perform some task in a given situation. Rather than hardwire-in decisions about when and…

Humans engaged in collaborative activities are naturally able to convey their intentions to teammates through multi-modal communication, which is made up of explicit and implicit cues. Similarly, a more natural form of human-robot…

Ensuring human safety in collaborative robotics can compromise efficiency because traditional safety measures increase robot cycle time when human interaction is frequent. This paper proposes a safety-aware approach to mitigate efficiency…

Infants are experts at playing, with an amazing ability to generate novel structured behaviors in unstructured environments that lack clear extrinsic reward signals. We seek to mathematically formalize these abilities using a neural network…

Humans and animals excel in combining information from multiple sensory modalities, controlling their complex bodies, adapting to growth, failures, or using tools. These capabilities are also highly desirable in robots. They are displayed…

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…

Most popular goal-oriented dialogue agents are capable of understanding the conversational context. However, with the surge of virtual assistants with screen, the next generation of agents are required to also understand screen context in…

The growing presence of service robots in human-centric environments, such as warehouses, demands seamless and intuitive human-robot collaboration. In this paper, we propose a collaborative shelf-picking framework that combines multimodal…

This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…

For successful deployment of robots in multifaceted situations, an understanding of the robot for its environment is indispensable. With advancing performance of state-of-the-art object detectors, the capability of robots to detect objects…

We are developing a system for human-robot communication that enables people to communicate with robots in a natural way and is focused on solving problems in a shared space. Our strategy for developing this system is fundamentally…