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Robots can learn preferences from human demonstrations, but their success depends on how informative these demonstrations are. Being informative is unfortunately very challenging, because during teaching, people typically get no…
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…
Artificial agents, particularly humanoid robots, interact with their environment, objects, and people using cameras, actuators, and physical presence. Their communication methods are often pre-programmed, limiting their actions and…
Human-in-the-loop learning is gaining popularity, particularly in the field of robotics, because it leverages human knowledge about real-world tasks to facilitate agent learning. When people instruct robots, they naturally adapt their…
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.…
Voice is an essential modality for human-robot interaction (HRI). The way a robot sounds plays a central role in shaping how humans perceive and engage with it, influencing factors such as intelligibility, understandability, and likability.…
From the earliest years of our lives, humans use language to express our beliefs and desires. Being able to talk to artificial agents about our preferences would thus fulfill a central goal of value alignment. Yet today, we lack…
Voice signal classification based on human behaviours involves analyzing various aspects of speech patterns and delivery styles. In this study, a real-time dataset collection is performed where participants are instructed to speak twelve…
Robots in shared spaces often move in ways that are difficult for people to interpret, placing the burden on humans to adapt. High-DoF robots exhibit motion that people read as expressive, intentionally or not, making it important to…
How should a robot speak in a formal, quiet and dark, or a bright, lively and noisy environment? By designing robots to speak in a more social and ambient-appropriate manner we can improve perceived awareness and intelligence for these…
Imitation learning in robots, also called programing by demonstration, has made important advances in recent years, allowing humans to teach context dependant motor skills/tasks to robots. We propose to extend the usual contexts…
While there has been significant progress towards modelling coherence in written discourse, the work in modelling spoken discourse coherence has been quite limited. Unlike the coherence in text, coherence in spoken discourse is also…
Affective tactile interaction constitutes a fundamental component of human communication. In natural human-human encounters, touch is seldom experienced in isolation; rather, it is inherently multisensory. Individuals not only perceive the…
Learning from demonstration allows for rapid deployment of robot manipulators to a great many tasks, by relying on a person showing the robot what to do rather than programming it. While this approach provides many opportunities, measuring,…
The ability to modulate vocal sounds and generate speech is one of the features which set humans apart from other living beings. The human voice can be characterized by several attributes such as pitch, timbre, loudness, and vocal tone. It…
Humans can robustly recognize and localize objects by using visual and/or auditory cues. While machines are able to do the same with visual data already, less work has been done with sounds. This work develops an approach for scene…
Positive human-perception of robots is critical to achieving sustained use of robots in shared environments. One key factor affecting human-perception of robots are their sounds, especially the consequential sounds which robots (as…
World models have demonstrated impressive performance on robotic learning tasks. Many such tasks inherently demand multimodal reasoning; for example, filling a bottle with water will lead to visual information alone being ambiguous or…
Humans can leverage physical interaction to teach robot arms. As the human kinesthetically guides the robot through demonstrations, the robot learns the desired task. While prior works focus on how the robot learns, it is equally important…
Speech is a natural interface for humans to interact with robots. Yet, aligning a robot's voice to its appearance is challenging due to the rich vocabulary of both modalities. Previous research has explored a few labels to describe robots…