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During human-robot interaction (HRI), we want the robot to understand us, and we want to intuitively understand the robot. In order to communicate with and understand the robot, we can leverage interactions, where the human and robot…

In the rapidly evolving landscape of human-robot collaboration, effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder efficiency.…

Mobile robots are traditionally developed to be reactive and avoid collisions with surrounding humans, often moving in unnatural ways without following social protocols, forcing people to behave very differently from human-human interaction…

The development of embodied agents that can communicate with humans in natural language has gained increasing interest over the last years, as it facilitates the diffusion of robotic platforms in human-populated environments. As a step…

Defining sound and complete specifications for robots using formal languages is challenging, while learning formal specifications directly from demonstrations can lead to over-constrained task policies. In this paper, we propose a Bayesian…

Developing robots that can assist humans efficiently, safely, and adaptively is crucial for real-world applications such as healthcare. While previous work often assumes a centralized system for co-optimizing human-robot interactions, we…

Robotic agents that share autonomy with a human should leverage human domain knowledge and account for their preferences when completing a task. This extra knowledge can dramatically improve plan efficiency and user-satisfaction, but these…

For robots to operate in a three dimensional world and interact with humans, learning spatial relationships among objects in the surrounding is necessary. Reasoning about the state of the world requires inputs from many different sensory…

Task oriented dialog systems often rely on static exploration strategies that do not adapt to dynamic dialog contexts, leading to inefficient exploration and suboptimal performance. We propose DyBBT, a novel dialog policy learning framework…

When robots share the same workspace with other intelligent agents (e.g., other robots or humans), they must be able to reason about the behaviors of their neighboring agents while accomplishing the designated tasks. In practice,…

We report on our effort to create a corpus dataset of different social context situations in an office setting for further disciplinary and interdisciplinary research in computer vision, psychology, and human-robot-interaction. For social…

Effective human-agent collaboration in physical environments requires understanding not only what to act upon, but also where the actionable elements are and how to interact with them. Existing approaches often operate at the object level…

For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…

For robots to seamlessly interact with humans, we first need to make sure that humans and robots understand one another. Diverse algorithms have been developed to enable robots to learn from humans (i.e., transferring information from…

Conversational agents are becoming increasingly popular for supporting and facilitating learning. Conventional pedagogical agents are designed to play the role of human teachers by giving instructions to the students. In this paper, we…

The last few years have witnessed substantial progress in the field of embodied AI where artificial agents, mirroring biological counterparts, are now able to learn from interaction to accomplish complex tasks. Despite this success,…

Robotics research has been focusing on cooperative multi-agent problems, where agents must work together and communicate to achieve a shared objective. To tackle this challenge, we explore imitation learning algorithms. These methods learn…

Autonomous intelligent agents must bridge computational challenges at disparate levels of abstraction, from the low-level spaces of sensory input and motor commands to the high-level domain of abstract reasoning and planning. A key question…

Building machines capable of efficiently collaborating with humans has been a longstanding goal in artificial intelligence. Especially in the presence of uncertainties, optimal cooperation often requires that humans and artificial agents…

For machine agents to successfully interact with humans in real-world settings, they will need to develop an understanding of human mental life. Intuitive psychology, the ability to reason about hidden mental variables that drive observable…