Related papers: Projecting Robot Intentions Through Visual Cues: S…
Robot understanding of human intentions is essential for fluid human-robot interaction. Intentions, however, cannot be directly observed and must be inferred from behaviors. We learn a model of adaptive human behavior conditioned on the…
Establishing common ground between an intelligent robot and a human requires communication of the robot's intention, behavior, and knowledge to the human to build trust and assure safety in a shared environment. This paper introduces SENSAR…
Vulnerable road users (VRUs, i.e. cyclists and pedestrians) will play an important role in future traffic. To avoid accidents and achieve a highly efficient traffic flow, it is important to detect VRUs and to predict their intentions. In…
Common experience suggests that agents who know each other well are better able to work together. In this work, we address the problem of calibrating intention and capabilities in human-robot collaboration. In particular, we focus on…
During collaborative tasks, human behavior is guided by multiple levels of intentions that evolve over time, such as task sequence preferences and interaction strategies. To adapt to these changing preferences and promptly correct any…
We propose a novel system for robot-to-human object handover that emulates human coworker interactions. Unlike most existing studies that focus primarily on grasping strategies and motion planning, our system focus on 1. inferring human…
When a robot is asked to verbalize its plan it can do it in many ways. For example, a seemingly natural strategy is incremental, where the robot verbalizes its planned actions in plan order. However, an important aspect of this type of…
This paper presents a method for designing energy-aware collaboration tasks between humans and robots, and generating corresponding trajectories to carry out those tasks. The method involves using high-level specifications expressed as…
Tactile sensing is a widely-studied means of implicit communication between robot and human. In this paper, we investigate how tactile sensing can help bridge differences between robotic embodiments in the context of collaborative…
The object perception capabilities of humans are impressive, and this becomes even more evident when trying to develop solutions with a similar proficiency in autonomous robots. While there have been notable advancements in the technologies…
Assistive robot arms can help humans by partially automating their desired tasks. Consider an adult with motor impairments controlling an assistive robot arm to eat dinner. The robot can reduce the number of human inputs -- and how precise…
Ensuring human safety in collaborative robotics can compromise efficiency because traditional safety measures increase robot cycle time when human interaction is frequent. This paper proposes a safety-aware approach to mitigate efficiency…
When a human dyad jointly manipulates an object, they must communicate about their intended motion plans. Some of that collaboration is achieved through the motion of the manipulated object itself, which we call "haptic communication." In…
Natural language provides a widely accessible and expressive interface for robotic agents. To understand language in complex environments, agents must reason about the full range of language inputs and their correspondence to the world.…
Achieving effective and seamless human-robot collaboration requires two key outcomes: enhanced team performance and fostering a positive human perception of both the robot and the collaboration. This paper investigates the capability of the…
This work proposes a biologically inspired approach that focuses on attention systems that are able to inhibit or constrain what is relevant at any one moment. We propose a radically new approach to making progress in human-robot joint…
Within this work, we explore intention inference for user actions in the context of a handheld robot setup. Handheld robots share the shape and properties of handheld tools while being able to process task information and aid manipulation.…
Recognition of intentions is a subconscious cognitive process vital to human communication. This skill enables anticipation and increases the quality of interactions between humans. Within the context of engagement, non-verbal signals are…
An understanding of the nature of objects could help robots to solve both high-level abstract tasks and improve performance at lower-level concrete tasks. Although deep learning has facilitated progress in image understanding, a robot's…
Understanding the intentions of human teammates is critical for safe and effective human-robot interaction. The canonical approach for human-aware robot motion planning is to first predict the human's goal or path, and then construct a…