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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.…
Generative Artificial Intelligence (AI) models such as OpenAI's ChatGPT have the potential to revolutionize Statistical Process Control (SPC) practice, learning, and research. However, these tools are in the early stages of development and…
Toward enabling next-generation robots capable of socially intelligent interaction with humans, we present a $\mathbf{computational\; model}$ of interactions in a social environment of multiple agents and multiple groups. The Multiagent…
Aiming for a mixbiotic society that combines freedom and solidarity among people with diverse values, I focused on nonviolent communication (NVC) that enables compassionate giving in various situations of social division and conflict, and…
The emergence of generative artificial intelligence (GAI) and large language models (LLMs) such ChatGPT has enabled the realization of long-harbored desires in software and robotic development. The technology however, has brought with it…
Generating persona consistent dialogue response is important for developing an intelligent conversational agent. Recent works typically fine-tune large-scale pre-trained models on this task by concatenating persona texts and dialogue…
In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…
In today's digitally driven world, dialogue systems play a pivotal role in enhancing user interactions, from customer service to virtual assistants. In these dialogues, it is important to identify user's goals automatically to resolve their…
Generative Pre-trained Transformer 4 (GPT-4) is the fourth-generation language model in the GPT series, developed by OpenAI, which promises significant advancements in the field of natural language processing (NLP). In this research…
Generative AI and large language models hold great promise in enhancing computing education by powering next-generation educational technologies for introductory programming. Recent works have studied these models for different scenarios…
Robots are becoming increasingly omnipresent in our daily lives, supporting us and carrying out autonomous tasks. In Human-Robot Interaction, human actors benefit from understanding the robot's motion intent to avoid task failures and…
Generative artificial intelligence (GenAI) offers promising potential for advancing human-AI collaboration in qualitative research. However, existing works focused on conventional machine-learning and pattern-based AI systems, and little is…
Large Language Models such as GPTs (Generative Pre-trained Transformers) exhibit remarkable capabilities across a broad spectrum of applications. Nevertheless, due to their intrinsic complexity, these models present substantial challenges…
World models have demonstrated impressive performance on robotic learning tasks. Many such tasks inherently demand multimodal reasoning; for example, filling a bottle with water will lead to visual information alone being ambiguous or…
We characterize and demonstrate how the principles of direct manipulation can improve interaction with large language models. This includes: continuous representation of generated objects of interest; reuse of prompt syntax in a toolbar of…
Robot learning methods have the potential for widespread generalization across tasks, environments, and objects. However, these methods require large diverse datasets that are expensive to collect in real-world robotics settings. For robot…
Generative artificial intelligence (AI) is poised to reshape the way individuals communicate and interact. While this form of AI has the potential to efficiently make numerous human decisions, there is limited understanding of how…
Large-scale language models (LLMs), such as ChatGPT, are becoming increasingly sophisticated and exhibit human-like capabilities, playing an essential role in assisting humans in a variety of everyday tasks. An important application of AI…
Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…
Prompts used in recent large language model based applications are often fixed and lengthy, leading to significant computational overhead. To address this challenge, we propose Generative Prompt Internalization (GenPI), a lightweight method…