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In virtual reality, it is widely assumed that increased realism in hand-object interactions enhances user immersion and overall experience. However, recent studies challenge this assumption, suggesting that faithfully replicating real-world…
Purpose of Review: The field of humanoid robotics, perception plays a fundamental role in enabling robots to interact seamlessly with humans and their surroundings, leading to improved safety, efficiency, and user experience. This…
Despite the recent advancements in robotics and machine learning (ML), the deployment of autonomous robots in our everyday lives is still an open challenge. This is due to multiple reasons among which are their frequent mistakes, such as…
Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…
Background/Context: Currently, the usual interface for visualizing data is based on 2-D screens. Recently, devices capable of visualizing data while immersed in VR scenes are becoming common. However, it has not been studied in detail to…
Virtual Reality (VR) interfaces are increasingly used as remote visualization media in telerobotics. Remote environments captured through RGB-D cameras and visualized using VR interfaces can enhance operators' situational awareness and…
Trust is a key factor in ensuring acceptable human-robot interaction, especially in settings where robots may be assisting with critical activities of daily living. When practically deployed, robots are bound to make occasional mistakes,…
The increased interest in developing next-gen social robots has raised questions about the factors affecting the perception of robot emotions. This study investigates the impact of robot appearances (humanlike, mechanical) and face regions…
Robots fail, potentially leading to a loss in the robot's perceived reliability (PR), a measure correlated with trustworthiness. In this study we examine how various kinds of failures affect the PR of the robot differently, and how this…
This work aims to interpret human behavior to anticipate potential user confusion when a robot provides explanations for failure, allowing the robot to adapt its explanations for more natural and efficient collaboration. Using a dataset…
As collaborative robots enter industrial shop floors, logistics, and manufacturing, rapid and flexible evaluation of human-machine interaction has become more important. The availability of consumer headsets for virtual and augmented…
Zoomorphic robots have the potential to offer companionship and well-being as accessible, low-maintenance alternatives to pet ownership. Many such robots, however, feature limited emotional expression, restricting their potential for rich…
As robots enter human environments, they will be expected to accomplish a tremendous range of tasks. It is not feasible for robot designers to pre-program these behaviors or know them in advance, so one way to address this is through…
Learning from demonstrations is effective for robotic manipulation, but collecting sufficient task-specific data remains a major bottleneck. Under distribution shift, small errors compound, performance degrades, and expert time is often…
With the rapid progress in virtual reality (VR) technology, the scope of VR applications has greatly expanded across various domains. However, the superiority of VR training over traditional methods and its impact on learning efficacy are…
Robots operating in shared human environments must not only navigate, interact, and detect their surroundings, they must also interpret and respond to dynamic, and often unpredictable, human behaviours. Although recent advances have shown…
Aligning robot navigation with human preferences is essential for ensuring comfortable, and predictable robot movement in shared spaces. While preference-based learning methods, such as reinforcement learning from human feedback (RLHF),…
How do humans recognize and rectify social missteps? We achieve social competence by looking around at our peers, decoding subtle cues from bystanders - a raised eyebrow, a laugh - to evaluate the environment and our actions. Robots,…
Robots that carry out tasks and interact in complex environments will inevitably commit errors. Error detection is thus an essential ability for robots to master to work efficiently and productively. People can leverage social feedback to…
We present a collection of heuristics and simple tests for evaluating the quality of a projection-based virtual reality display. A typical VR system includes numerous potential sources of error. By understanding the characteristics of a…