Related papers: On Model Reconciliation: How to Reconcile When Rob…
When AI systems interact with humans in the loop, they are often called on to provide explanations for their plans and behavior. Past work on plan explanations primarily involved the AI system explaining the correctness of its plan and the…
Whenever humans and robots work together, it is essential that unexpected robot behavior can be explained to the user. Especially in applications such as shared control the user and the robot must share the same model of the objects in the…
Recent work in explanation generation for decision making agents has looked at how unexplained behavior of autonomous systems can be understood in terms of differences in the model of the system and the human's understanding of the same,…
In human-robot interactions, human and robot agents maintain internal mental models of their environment, their shared task, and each other. The accuracy of these representations depends on each agent's ability to perform theory of mind,…
Designing agents capable of explaining complex sequential decisions remain a significant open problem in automated decision-making. Recently, there has been a lot of interest in developing approaches for generating such explanations for…
A robot operating in isolation needs to reason over the uncertainty in its model of the world and adapt its own actions to account for this uncertainty. Similarly, a robot interacting with people needs to reason over its uncertainty over…
Explainable Artificial Intelligence (XAI) has become critical in enhancing the transparency and trustworthiness of AI systems, especially as these systems are increasingly deployed in high-stakes domains such as healthcare and finance.…
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…
Robots interacting with the physical world plan with models of physics. We advocate that robots interacting with people need to plan with models of cognition. This writeup summarizes the insights we have gained in integrating computational…
Prior studies have found that explaining robot decisions and actions helps to increase system transparency, improve user understanding, and enable effective human-robot collaboration. In this paper, we present a system for generating…
As in any interaction process, misunderstandings, ambiguity, and failures to correctly understand the interaction partner are bound to happen in human-robot interaction. We term these failures 'conflicts' and are interested in both conflict…
The ability to achieve precise and smooth trajectory tracking is crucial for ensuring the successful execution of various tasks involving robotic manipulators. State-of-the-art techniques require accurate mathematical models of the robot…
As robots are being integrated into our daily lives, it becomes necessary to provide guarantees on the safe and provably correct operation. Such guarantees can be provided using automata theoretic task and mission planning where the…
For widespread deployment in domains characterized by partial observability, non-deterministic actions and unforeseen changes, robots need to adapt sensing, processing and interaction with humans to the tasks at hand. While robots typically…
The overarching goal of this work is to efficiently enable end-users to correctly anticipate a robot's behavior in novel situations. Since a robot's behavior is often a direct result of its underlying objective function, our insight is that…
In human-robot collaboration, the objectives of the human are often unknown to the robot. Moreover, even assuming a known objective, the human behavior is also uncertain. In order to plan a robust robot behavior, a key preliminary question…
A robot as a coworker or a cohabitant is becoming mainstream day-by-day with the development of low-cost sophisticated hardware. However, an accompanying software stack that can aid the usability of the robotic hardware remains the…
The future will be replete with scenarios where humans are robots will be working together in complex environments. Teammates interact, and the robot's interaction has to be about getting useful information about the human's (teammate's)…
The number of robots deployed in our daily surroundings is ever-increasing. Even in the industrial set-up, the use of coworker robots is increasing rapidly. These cohabitant robots perform various tasks as instructed by co-located human…
Language-capable robots hold unique persuasive power over humans, and thus can help regulate people's behavior and preserve a better moral ecosystem, by rejecting unethical commands and calling out norm violations. However, miscalibrated…