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Humans have internal models of robots (like their physical capabilities), the world (like what will happen next), and their tasks (like a preferred goal). However, human internal models are not always perfect: for example, it is easy to…
Robot actions influence the decisions of nearby humans. Here influence refers to intentional change: robots influence humans when they shift the human's behavior in a way that helps the robot complete its task. Imagine an autonomous car…
Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform…
Flexible manufacturing processes demand robots to easily adapt to changes in the environment and interact with humans. In such dynamic scenarios, robotic tasks may be programmed through learning-from-demonstration approaches, where a…
Transferring human motion skills to humanoid robots remains a significant challenge. In this study, we introduce a Wasserstein adversarial imitation learning system, allowing humanoid robots to replicate natural whole-body locomotion…
Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…
While natural language offers a convenient shared interface for humans and robots, enabling robots to interpret and follow language commands remains a longstanding challenge in manipulation. A crucial step to realizing a performant…
Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…
Robots can use Visual Imitation Learning (VIL) to learn manipulation tasks from video demonstrations. However, translating visual observations into actionable robot policies is challenging due to the high-dimensional nature of video data.…
Humans naturally employ linguistic instructions to convey knowledge, a process that proves significantly more complex for machines, especially within the context of multitask robotic manipulation environments. Natural language, moreover,…
As knowledge graph has the potential to bridge the gap between commonsense knowledge and reasoning over actionable capabilities of mobile robotic platforms, incorporating knowledge graph into robotic system attracted increasing attention in…
Recent advancements in \textit{Learning from Human Feedback} present an effective way to train robot agents via inputs from non-expert humans, without a need for a specially designed reward function. However, this approach needs a human to…
Successful adoption of industrial robots will strongly depend on their ability to safely and efficiently operate in human environments, engage in natural communication, understand their users, and express intentions intuitively while…
Estimating the internal state of a robotic system is complex: this is performed from multiple heterogeneous sensor inputs and knowledge sources. Discretization of such inputs is done to capture saliences, represented as symbolic…
Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot…
When humans perform a task with an articulated object, they interact with the object only in a handful of ways, while the space of all possible interactions is nearly endless. This is because humans have prior knowledge about what…
The vision of adaptive architecture proposes that robotic technologies could enable interior spaces to physically transform in a bidirectional interaction with occupants. Yet, it is still unknown how this interaction could unfold in an…
Sign language is a natural and visual form of language that uses movements and expressions to convey meaning, serving as a crucial means of communication for individuals who are deaf or hard-of-hearing (DHH). However, the number of people…
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…
We are developing a system for human-robot communication that enables people to communicate with robots in a natural way and is focused on solving problems in a shared space. Our strategy for developing this system is fundamentally…