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TalkWithMachines aims to enhance human-robot interaction by contributing to interpretable industrial robotic systems, especially for safety-critical applications. The presented paper investigates recent advancements in Large Language Models…
In this paper, we present an implementation of a leaning-based control of a differential drive telepresence robot and a user study in simulation, with the goal of bringing the same functionality to a real telepresence robot. The…
Human-robot interaction frequently involves physical proximity or contact. In human-human settings, people flexibly accept, reject, or tolerate such approaches depending on the relationship and context. We explore the design of a robot's…
Social robots are required not only to understand human intentions but also to effectively communicate their intentions or own internal states to users. This study explores the use of sonification to provide explicit auditory feedback,…
Vision Language Action (VLA) models are widely used in Embodied AI, enabling robots to interpret and execute language instructions. However, their robustness to natural language variability in real-world scenarios has not been thoroughly…
In this paper we present a pilot study which investigates how non-verbal behavior affects social influence in social robots. We also present a modular system which is capable of controlling the non-verbal behavior based on the…
The paper presents the results of a behavioral experiment conducted between February 2020 and March 2021 at Universit\`a Cattolica del Sacro Cuore, Milan Campus in which students were matched to either a human or a humanoid robotic partner…
This study investigates the effect of a physical robot taking the role of a teacher or exercise partner in a language learning exercise. In order to investigate this, an application was developed enabling a 2:nd language learning vocabulary…
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…
Typical contact detection is based on the monitoring of a threshold value in the force and torque signals. The selection of a threshold is challenging for robots operating in unstructured or highly dynamic environments, such in a household…
Teleoperated robotic characters can perform expressive interactions with humans, relying on the operators' experience and social intuition. In this work, we propose to create autonomous interactive robots, by training a model to imitate…
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.…
Large Language Models are increasingly proposed as cognitive components for robotic systems, yet their opaque decision processes make it difficult to explain success or failure in closed-loop embodied tasks. Following an empirical AI…
We study the role played by noise on the QW introduced in [1], a 1D model that is inspired by a two particle interacting QW. The noise is introduced by a random change in the value of the phase during the evolution, from a constant…
We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…
The Robadom project aims at creating a homecare robot that help and assist people in their daily life, either in doing task for the human or in managing day organization. A robot could have this kind of role only if it is accepted by…
Robots are becoming more capable and can autonomously perform tasks such as navigating between locations. However, human oversight remains crucial. This study compared two touchless methods for directing mobile robots: voice control and…
This paper identifies stylistic differences in instruction-giving observed in a corpus of human-robot dialogue. Differences in verbosity and structure (i.e., single-intent vs. multi-intent instructions) arose naturally without restrictions…
This study investigates frontal auditory distance perception (ADP) and externalization in virtual audio-visual environments, considering effects of headphone rendering method, room size, reverberation, and visual representation of the room.…
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…