Related papers: iCub Detecting Gazed Objects: A Pipeline Estimatin…
Performing joint interaction requires constant mutual monitoring of own actions and their effects on the other's behaviour. Such an action-effect monitoring is boosted by social cues and might result in an increasing sense of agency. Joint…
Gaze is a crucial social cue in any interacting scenario and drives many mechanisms of social cognition (joint and shared attention, predicting human intention, coordination tasks). Gaze direction is an indication of social and emotional…
This paper explores the estimation of user attention in the setting of a cooperative handheld robot: a robot designed to behave as a handheld tool but that has levels of task knowledge. We use a tool-mounted gaze tracking system, which,…
Gaze cueing is a fundamental part of social interactions, and broadly studied using Posner task based gaze cueing paradigms. While studies using human stimuli consistently yield a gaze cueing effect, results from studies using robotic…
This study uses multisensory data (i.e., color and depth) to recognize human actions in the context of multimodal human-robot interaction. Here we employed the iCub robot to observe the predefined actions of the human partners by using four…
Routine inspections for critical infrastructures such as bridges are required in most jurisdictions worldwide. Such routine inspections are largely visual in nature, which are qualitative, subjective, and not repeatable. Although robotic…
Attention (and distraction) recognition is a key factor in improving human-robot collaboration. We present an assembly scenario where a human operator and a cobot collaborate equally to piece together a gearbox. The setup provides multiple…
To enhance human-robot social interaction, it is essential for robots to process multiple social cues in a complex real-world environment. However, incongruency of input information across modalities is inevitable and could be challenging…
The ability to visually recognize objects is a fundamental skill for robotics systems. Indeed, a large variety of tasks involving manipulation, navigation or interaction with other agents, deeply depends on the accurate understanding of the…
In gaze based Human-Robot Interaction (HRI), it is important to determine the human intention for further interaction. The gaze intention is often modelled as fixation. However, when looking at an object, it is not natural and it is…
The primary objective of the dataset is to provide a better understanding of the coupling between human actions and gaze in a shared working environment with a cobot, with the aim of signifcantly enhancing the effciency and safety of…
Human eye gaze plays an important role in delivering information, communicating intent, and understanding others' mental states. Previous research shows that a robot's gaze can also affect humans' decision-making and strategy during an…
In this paper we present and start analyzing the iCub World data-set, an object recognition data-set, we acquired using a Human-Robot Interaction (HRI) scheme and the iCub humanoid robot platform. Our set up allows for rapid acquisition and…
Gaze reflects how humans process visual scenes and is therefore increasingly used in computer vision systems. Previous works demonstrated the potential of gaze for object-centric tasks, such as object localization and recognition, but it…
Human eye gaze estimation is an important cognitive ingredient for successful human-robot interaction, enabling the robot to read and predict human behavior. We approach this problem using artificial neural networks and build a modular…
In our everyday lives we are accustomed to partake in complex, personalized, adaptive interactions with our peers. For a social robot to be able to recreate this same kind of rich, human-like interaction, it should be aware of our needs and…
In human-robot interaction (HRI), detecting a human's gaze helps robots interpret user attention and intent. However, most gaze detection approaches rely on specialized eye-tracking hardware, limiting deployment in everyday settings.…
Mirroring non-verbal social cues such as affect or movement can enhance human-human and human-robot interactions in the real world. The robotic platforms and control methods also impact people's perception of human-robot interaction.…
For a service robot, it is crucial to perceive as early as possible that an approaching person intends to interact: in this case, it can proactively enact friendly behaviors that lead to an improved user experience. We solve this perception…
This work presents a next-generation human-robot interface that can infer and realize the user's manipulation intention via sight only. Specifically, we develop a system that integrates near-eye-tracking and robotic manipulation to enable…