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Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…
Constraint-aware estimation of human intent is essential for robots to physically collaborate and interact with humans. Further, to achieve fluid collaboration in dynamic tasks intent estimation should be achieved in real-time. In this…
Recognition of intentions is a subconscious cognitive process vital to human communication. This skill enables anticipation and increases the quality of interactions between humans. Within the context of engagement, non-verbal signals are…
The increasing deployment of robots in co-working scenarios with humans has revealed complex safety and efficiency challenges in the computation robot behavior. Movement among humans is one of the most fundamental -- and yet critical --…
Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…
Proactively perceiving others' intentions is a crucial skill to effectively interact in unstructured, dynamic and novel environments. This work proposes a first step towards embedding this skill in support robots for search and rescue…
Humans have an extraordinary ability to communicate and read the properties of objects by simply watching them being carried by someone else. This level of communicative skills and interpretation, available to humans, is essential for…
Nonverbal visual symbols and displays play an important role in communication when humans and robots work collaboratively. However, few studies have investigated how different types of non-verbal cues affect objective task performance,…
Collaborative robots require effective human intention estimation to safely and smoothly work with humans in less structured tasks such as industrial assembly, where human intention continuously changes. We propose the concept of intention…
Within this work, we explore intention inference for user actions in the context of a handheld robot setup. Handheld robots share the shape and properties of handheld tools while being able to process task information and aid manipulation.…
Transporting large and heavy objects can benefit from Human-Robot Collaboration (HRC), increasing the contribution of robots to our daily tasks and reducing the risk of injuries to the human operator. This approach usually posits the human…
Autonomous robots must communicate about their decisions to gain trust and acceptance. When doing so, robots must determine which actions are causal, i.e., which directly give rise to the desired outcome, so that these actions can be…
In physical human-robot interaction, force feedback has been the most common sensing modality to convey the human intention to the robot. It is widely used in admittance control to allow the human to direct the robot. However, it cannot be…
Robots assist in many areas that are considered unsafe for humans to operate. For instance, in handling pandemic diseases such as the recent Covid-19 outbreak and other outbreaks like Ebola, robots can assist in reaching areas dangerous for…
Current image generation systems produce high-quality images but struggle with ambiguous user prompts, making interpretation of actual user intentions difficult. Many users must modify their prompts several times to ensure the generated…
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…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
The ability of human beings to precisely recog- nize others intents is a significant mental activity in reasoning about actions, such as, what other people are doing and what they will do next. Recent research has revealed that human…
Humans activate muscles to shape the mechanical interaction with their environment, but can they harness this control mechanism to best sense the environment? We investigated how participants adapt their muscle activation to visual and…
In the domain of autonomous household robots, it is of utmost importance for robots to understand human behaviors and provide appropriate services. This requires the robots to possess the capability to analyze complex human behaviors and…