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Communication and cooperation among team members can be enhanced significantly with physical interaction. Successful collaboration requires the integration of the individual partners' intentions into a shared action plan, which may involve…
We propose, analyze, and experimentally verify a new proactive approach for robot social navigation driven by the robot's "opinion" for which way and by how much to pass human movers crossing its path. The robot forms an opinion over time…
Deploying humanoid robots in real-world settings is fundamentally challenging, as it demands tight integration of perception, locomotion, and manipulation under partial-information observations and dynamically changing environments. As well…
We focus on the human-humanoid interaction task optionally with an object. We propose a new task named online full-body motion reaction synthesis, which generates humanoid reactions based on the human actor's motions. The previous work only…
In this paper, we place ourselves in the context of human robot interaction and address the problem of cognitive robot modelling. More precisely we are investigating properties of a utility-based model that will govern a robot's actions.…
In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…
With the increasing prevalence and diversity of robots interacting in the real world, there is need for flexible, on-the-fly planning and cooperation. Large Language Models are starting to be explored in a multimodal setup for…
Humans have developed the capability to teach relevant aspects of new or adapted tasks to a social peer with very few task demonstrations by making use of scaffolding strategies that leverage prior knowledge and importantly prior joint…
This paper addresses motion replanning in human-robot collaborative scenarios, emphasizing reactivity and safety-compliant efficiency. While existing human-aware motion planners are effective in structured environments, they often struggle…
Humanoid robots with behavioral autonomy have consistently been regarded as ideal collaborators in our daily lives and promising representations of embodied intelligence. Compared to fixed-based robotic arms, humanoid robots offer a larger…
Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational versatility of humanoid robots makes them the ideal platform…
It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…
This paper presents an experimental platform for studying intentional-state attribution toward a non-humanoid robot. The system combines a simulated robot, realistic task environments, and large language model-based explanatory layers that…
What happens when your walls begin to move? This paper explores the design of human-robot interaction for architectural-scale, shape-changing environments. We present findings from two studies: (1) a series of speculative design workshops…
The co creativity community is making significant progress in developing more sophisticated and tailored systems to support and enhance human creativity. Design considerations from prior work can serve as a valuable and efficient foundation…
The new paradigm of human-robot collaboration has led to the creation of shared work environments in which humans and robots work in close contact with each other. Consequently, the safety regulations have been updated addressing these new…
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…
We present a method for learning a human-robot collaboration policy from human-human collaboration demonstrations. An effective robot assistant must learn to handle diverse human behaviors shown in the demonstrations and be robust when the…
Effective verbal communication is crucial in human-robot collaboration. When a robot helps its human partner to complete a task with verbal instructions, referring expressions are commonly employed during the interaction. Despite many…
Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots. Towards this goal, we present an interactive computational design system that enables users to design…