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What nonverbal behaviors should a robot respond to? Understanding how children-both neurotypical and autistic-engage with embodied artificial agents is critical for developing inclusive and socially interactive systems. In this paper, we…

This paper describes the robot technology behind an original performance that pairs a human dancer (Cuan) with an industrial robot arm for an eight-hour dance that unfolds over the timespan of an American workday. To control the robot arm,…

Collaborative manipulation task often requires negotiation using explicit or implicit communication. An important example is determining where to move when the goal destination is not uniquely specified, and who should lead the motion. This…

This paper presents a quantitative method to construct voluntary manual control and sensor-based reactive control in human-robot collaboration based on Lipschitz conditions. To collaborate with a human, the robot observes the human's…

Imitation plays an important role in development, being one of the precursors of social cognition. Even though some children with autism imitate spontaneously and other children with autism can learn to imitate, the dynamics of imitation is…

In this paper, we propose theatre-in-the-loop, a framework for developing expressive robot behaviours tailored to artistic performance through a director-guided puppeteering workflow. Leveraging theatrical methods, we use narrative…

When humans control robot arms these robots often need to infer the human's desired task. Prior research on assistive teleoperation and shared autonomy explores how robots can determine the desired task based on the human's joystick inputs.…

The increasing presence of robots alongside humans, such as in human-robot teams in manufacturing, gives rise to research questions about the kind of behaviors people prefer in their robot counterparts. We term actions that support…

Learning from demonstrations enables experts to teach robots complex tasks using interfaces such as kinesthetic teaching, joystick control, and sim-to-real transfer. However, these interfaces often constrain the expert's ability to…

Interaction with a robot partner requires many elements, including not only speech but also embodiment. Thus, gestural and facial expressions are important for communication. Furthermore, understanding human movements is essential for safe…

Human-robot interaction often occurs in the form of instructions given from a human to a robot. For a robot to successfully follow instructions, a common representation of the world and objects in it should be shared between humans and the…

Virtual Assistant technology is rapidly proliferating to improve productivity in a variety of tasks. While several virtual assistants for everyday tasks are well-known (e.g., Siri, Cortana, Alexa), assistants for specialty tasks such as…

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…

Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…

This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…

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…

Evaluating human-robot social interactions in a rigorous manner is notoriously difficult: studies are either conducted in labs with constrained protocols to allow for robust measurements and a degree of replicability, but at the cost of…

This paper addresses the problem of enabling a robot to represent and recreate visual information through physical motion, focusing on drawing using pens, brushes, or other tools. This work uses ergodicity as a control objective that…

Dexterous robotic hands have the capability to interact with a wide variety of household objects to perform tasks like grasping. However, learning robust real world grasping policies for arbitrary objects has proven challenging due to the…

Text-writing robots have been used in assistive writing and drawing applications. However, robots do not convey emotional tones in the writing process due to the lack of behaviors humans typically adopt. To examine how people interpret…