Related papers: Robots Taking Initiative in Collaborative Object M…

Imitation learning is a popular approach for teaching motor skills to robots. However, most approaches focus on extracting policy parameters from execution traces alone (i.e., motion trajectories and perceptual data). No adequate…

Robotic vision for human-robot interaction and collaboration is a critical process for robots to collect and interpret detailed information related to human actions, goals, and preferences, enabling robots to provide more useful services to…

Human-robot interactions (HRI) can be modeled as dynamic or differential games with incomplete information, where each agent holds private reward parameters. Due to the open challenge in finding perfect Bayesian equilibria of such games,…

Robot capabilities are maturing across domains, from self-driving cars, to bipeds and drones. As a result, robots will soon no longer be confined to safety-controlled industrial settings; instead, they will directly interact with the…

Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…

The intuitive collaboration of humans and intelligent robots (embodied AI) in the real-world is an essential objective for many desirable applications of robotics. Whilst there is much research regarding explicit communication, we focus on…

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…

We present a framework for learning human user models from joint-action demonstrations that enables the robot to compute a robust policy for a collaborative task with a human. The learning takes place completely automatically, without any…

A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…

Communication between people is characterized by a broad range of nonverbal cues. Transferring these cues into the design of robots and other artificial agents that interact with people may foster more natural, inviting, and accessible…

Trustworthiness is a crucial concept in the context of human-robot interaction. Cooperative robots must be transparent regarding their decision-making process, especially when operating in a human-oriented environment. This paper presents a…

The role of robots is expanding from tool to collaborator. Socially assistive robots (SARs) are an example of collaborative robots that assist humans in the real world. As robots enter our social sphere, unforeseen risks occur during…

We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…

Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues.…

Humans possess the innate ability to extract latent visuo-lingual cues to infer context through human interaction. During collaboration, this enables proactive prediction of the underlying intention of a series of tasks. In contrast,…

While we do not always use words, communicating what we want to an AI is a conversation -- with ourselves as well as with it, a recurring loop with optional steps depending on the complexity of the situation and our request. Any given…

External Human-Machine Interfaces (eHMI) are widely used on robots and autonomous vehicles to convey the machine's intent to humans. Delivery robots are getting common, and they share the sidewalk along with the pedestrians. Current…

We humans are biased - and our robotic creations are biased, too. Bias is a natural phenomenon that drives our perceptions and behavior, including when it comes to socially expressive robots that have humanlike features. Recognizing that we…

Effective physical human-robot interaction requires systems that are not only adaptable to user preferences but also transparent about their actions. This paper introduces BRIDGE, a system for bidirectional human-robot communication in…

One of the keys to the success of collaborative learning is balanced participation by all learners, but this does not always happen naturally. Pedagogical robots have the potential to facilitate balance. However, it remains unclear what…