Related papers: A User Interface for Sense-making of the Reasoning…
On the one hand, speech is a key aspect to people's communication. On the other, it is widely acknowledged that language proficiency is related to intelligence. Therefore, intelligent robots should be able to understand, at least, people's…
Socially competent robots should be equipped with the ability to perceive the world that surrounds them and communicate about it in a human-like manner. Representative skills that exhibit such ability include generating image descriptions…
Manipulation tasks in daily life, such as pouring water, unfold intentionally under specialized manipulation contexts. Being able to process contextual knowledge in these Activities of Daily Living (ADLs) over time can help us understand…
Human-Robot Interaction (HRI) is an emerging subfield of service robotics. While most existing approaches rely on explicit signals (i.e. voice, gesture) to engage, current literature is lacking solutions to address implicit user needs. In…
A major challenge in research involving artificial intelligence (AI) is the development of algorithms that can find solutions to problems that can generalize to different environments and tasks. Unlike AI, humans are adept at finding…
Robots require knowledge about objects in order to efficiently perform various household tasks involving objects. The existing knowledge bases for robots acquire symbolic knowledge about objects from manually-coded external common sense…
While there is no replacement for the learned expertise, devotion, and social benefits of a guide dog, there are cases in which a robot navigation assistant could be helpful for individuals with blindness or low vision (BLV). This study…
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
While shared autonomy offers significant potential for assistive robotics, key questions remain about how to effectively map 2D control inputs to 6D robot motions. An intuitive framework should allow users to input commands effortlessly,…
Knowledge graph reasoning is the fundamental component to support machine learning applications such as information extraction, information retrieval, and recommendation. Since knowledge graphs can be viewed as the discrete symbolic…
Knowledge about how well a robot can perform a specific task is currently present only in engineering reports which are inaccessible to the robot. Artificial Intelligence techniques, such as hypergraphs and automated reasoning, can provide…
In this paper, we investigate the feasibility of using knowledge graphs to interpret actions and behaviors for robot manipulation control. Equipped with an uncalibrated visual servoing controller, we propose to use robot knowledge graphs to…
Service robots are expected to reliably make sense of complex, fast-changing environments. From a cognitive standpoint, they need the appropriate reasoning capabilities and background knowledge required to exhibit human-like Visual…
Some robots can interact with humans using natural language, and identify service requests through human-robot dialog. However, few robots are able to improve their language capabilities from this experience. In this paper, we develop a…
Establishing common ground between an intelligent robot and a human requires communication of the robot's intention, behavior, and knowledge to the human to build trust and assure safety in a shared environment. This paper introduces SENSAR…
Knowledge graphs are often visualized using node-link diagrams that reveal relationships and structure. In many applications using graphs, it is desirable to allow users to edit graphs to ensure data accuracy or provides updates. Commonly…
A robot's ability to understand or ground natural language instructions is fundamentally tied to its knowledge about the surrounding world. We present an approach to grounding natural language utterances in the context of factual…
Understanding how people interact with their surroundings and each other is essential for enabling robots to act in socially compliant and context-aware ways. While 3D Scene Graphs have emerged as a powerful semantic representation for…
In this paper we introduce a knowledge engine, which learns and shares knowledge representations, for robots to carry out a variety of tasks. Building such an engine brings with it the challenge of dealing with multiple data modalities…
This article presents an implementation of a natural-language speech interface and a haptic feedback interface that enables a human supervisor to provide guidance to, request information, and receive status updates from a Spot robot. We…