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In real-world human-robot systems, it is essential for a robot to comprehend human objectives and respond accordingly while performing an extended series of motor actions. Although human objective alignment has recently emerged as a…

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,…

Skeleton data carries valuable motion information and is widely explored in human action recognition. However, not only the motion information but also the interaction with the environment provides discriminative cues to recognize the…

Monitoring human activity in indoor environments is important for applications such as facility management, safety assessment, and space utilization analysis. While mobile robot teams offer the potential to actively improve observation…

How can multiple humans interact with multiple robots? The goal of our research is to create an effective interface that allows multiple operators to collaboratively control teams of robots in complex tasks. In this paper, we focus on a key…

The topic of joint actions has been deeply studied in the context of Human-Human interaction in order to understand how humans cooperate. Creating autonomous robots that collaborate with humans is a complex problem, where it is relevant to…

An important tradition in philosophy holds that in order to successfully perform a joint action, the participants must be capable of establishing commitments on joint goals and shared plans. This suggests that social robotics should endow…

We examine the problem of joint top-down active search of multiple objects under interaction, e.g., person riding a bicycle, cups held by the table, etc.. Such objects under interaction often can provide contextual cues to each other to…

We report on an extensive study of the benefits and limitations of current deep learning approaches to object recognition in robot vision scenarios, introducing a novel dataset used for our investigation. To avoid the biases in currently…

Intuitive and efficient physical human-robot collaboration relies on the mutual observability of the human and the robot, i.e. the two entities being able to interpret each other's intentions and actions. This is remedied by a myriad of…

The ability to visually recognize objects is a fundamental skill for robotics systems. Indeed, a large variety of tasks involving manipulation, navigation or interaction with other agents, deeply depends on the accurate understanding of the…

The human-robot interaction (HRI) field has recognized the importance of enabling robots to interact with teams. Human teams rely on effective communication for successful collaboration in time-sensitive environments. Robots can play a role…

Employing skin-like tactile sensors on robots enhances both the safety and usability of collaborative robots by adding the capability to detect human contact. Unfortunately, simple binary tactile sensors alone cannot determine the context…

A service robot can provide a smoother interaction experience if it has the ability to proactively detect whether a nearby user intends to interact, in order to adapt its behavior e.g. by explicitly showing that it is available to provide a…

Human-object interaction detection is an important and relatively new class of visual relationship detection tasks, essential for deeper scene understanding. Most existing approaches decompose the problem into object localization and…

Imitation learning is an effective approach for autonomous systems to acquire control policies when an explicit reward function is unavailable, using supervision provided as demonstrations from an expert, typically a human operator.…

Robots that navigate through human crowds need to be able to plan safe, efficient, and human predictable trajectories. This is a particularly challenging problem as it requires the robot to predict future human trajectories within a crowd…

Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…

There is an increasing interest in social robots assisting older adults during daily life tasks. In this context, non-verbal cues such as deictic gaze are important in natural communication in human-robot interaction. However, the…

Detection of engagement during a conversation is an important function of human-robot interaction. The level of user engagement can influence the dialogue strategy of the robot. Our motivation in this work is to detect several behaviors…