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We investigate the use of Large Language Models (LLMs) to equip neural robotic agents with human-like social and cognitive competencies, for the purpose of open-ended human-robot conversation and collaboration. We introduce a modular and…

Advances in large language models (LLMs) are profoundly reshaping the field of human-robot interaction (HRI). While prior work has highlighted the technical potential of LLMs, few studies have systematically examined their human-centered…

Beyond mere formality, small talk plays a pivotal role in social dynamics, serving as a verbal handshake for building rapport and understanding. For conversational AI and social robots, the ability to engage in small talk enhances their…

Imitation learning is a popular approach for teaching motor skills to robots. However, most approaches focus on extracting policy parameters from execution traces alone (i.e., motion trajectories and perceptual data). No adequate…

Human intention-based systems enable robots to perceive and interpret user actions to interact with humans and adapt to their behavior proactively. Therefore, intention prediction is pivotal in creating a natural interaction with social…

Recent advancements in machine learning provide methods to train autonomous agents capable of handling the increasing complexity of sequential decision-making in robotics. Imitation Learning (IL) is a prominent approach, where agents learn…

Languages are shaped by the inductive biases of their users. Using a classical referential game, we investigate how artificial languages evolve when optimised for inductive biases in humans and large language models (LLMs) via Human-Human,…

Human models play a crucial role in human-robot interaction (HRI), enabling robots to consider the impact of their actions on people and plan their behavior accordingly. However, crafting good human models is challenging; capturing…

This paper introduces a system designed to generate explanations for the actions performed by an autonomous robot in Human-Robot Interaction (HRI). Explainability in robotics, encapsulated within the concept of an eXplainable Autonomous…

Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive results in creating robotic agents for performing open vocabulary…

In a rapidly evolving digital landscape autonomous tools and robots are becoming commonplace. Recognizing the significance of this development, this paper explores the integration of Large Language Models (LLMs) like Generative pre-trained…

In human-robot interaction (HRI), the beginning of an interaction is often complex. Whether the robot should communicate with the human is dependent on several situational factors (e.g., the current human's activity, urgency of the…

Large language models (LLMs) have undergone significant expansion and have been increasingly integrated across various domains. Notably, in the realm of robot task planning, LLMs harness their advanced reasoning and language comprehension…

Large language models (LLMs) have emerged as powerful and general solutions to many natural language tasks. However, many of the most important applications of language generation are interactive, where an agent has to talk to a person to…

Large language models (LLMs) are increasingly used as conversational partners for learning, yet the interactional dynamics supporting users' learning and engagement are understudied. We analyze the linguistic and interactional features from…

Large Language Models (LLMs) have gained popularity in task planning for long-horizon manipulation tasks. To enhance the validity of LLM-generated plans, visual demonstrations and online videos have been widely employed to guide the…

Large Language Models (LLMs) have demonstrated their capabilities across various tasks, from language translation to complex reasoning. Understanding and predicting human behavior and biases are crucial for artificial intelligence (AI)…

The integration of large language models (LLMs) into conversational robots has made human-robot conversations more dynamic. Yet, LLM-powered conversational robots remain prone to errors, e.g., misunderstanding user intent, prematurely…

The widespread availability of Large Language Models (LLMs) within Integrated Development Environments (IDEs) has led to their speedy adoption. Conversational interactions with LLMs enable programmers to obtain natural language explanations…

The human ability to learn, generalize, and control complex manipulation tasks through multi-modality feedback suggests a unique capability, which we refer to as dexterity intelligence. Understanding and assessing this intelligence is a…