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Advancements in foundation models have catalyzed research in Embodied AI to develop interactive agents capable of environmental reasoning and interaction. Developing such agents requires diverse, large-scale datasets. Prior frameworks…
Recent advancements in Artificial Intelligence (AI) have largely been propelled by scaling. In Robotics, scaling is hindered by the lack of access to massive robot datasets. We advocate using realistic physical simulation as a means to…
Recent advances in robot learning have accelerated progress toward generalist robots that can perform everyday tasks in human environments. Yet it remains difficult to gauge how close we are to this vision. The field lacks a reproducible,…
We demonstrate the Patterns of Life Simulation to create realistic simulations of human mobility in a city. This simulation has recently been used to generate massive amounts of trajectory and check-in data. Our demonstration focuses on…
Understanding urban mobility requires models that capture how people interact with and navigate the built environment. We present a scalable, generalizable agent-based framework in which daily schedules emerge from the interplay between…
Integrating robots into populated environments is a complex challenge that requires an understanding of human social dynamics. In this work, we propose to model social motion forecasting in a shared human-robot representation space, which…
The research on human activity recognition has provided novel solutions to many applications like healthcare, sports, and user profiling. Considering the complex nature of human activities, it is still challenging even after effective and…
Interacting with human agents in complex scenarios presents a significant challenge for robotic navigation, particularly in environments that necessitate both collision avoidance and collaborative interaction, such as indoor spaces. Unlike…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
In collaborative robotic applications, human and robot have to work together during a whole shift for executing a sequence of jobs. The performance of the human robot team can be enhanced by scheduling the right tasks to the human and the…
Reports of human-like behaviors in foundation models are growing, with psychological theories providing enduring tools to investigate these behaviors. However, current research tends to directly apply these human-oriented tools without…
Measuring and modeling human behavior is a very complex task. In this paper we present our initial thoughts on modeling and automatic recognition of some human activities in an office. We argue that to successfully model human activities,…
When the human-robot interactions become ubiquitous, the environment surrounding these interactions will have significant impact on the safety and comfort of the human and the effectiveness and efficiency of the robot. Although most robots…
We present and evaluate a prototype social robot to encourage daily exercise among older adults in a home setting. Our prototype system, designed to lead users through exercise sessions with motivational feedback, was assessed through a…
We describe a mobile manipulation hardware and software system capable of autonomously performing complex human-level tasks in real homes, after being taught the task with a single demonstration from a person in virtual reality. This is…
In order for autonomous robots to be able to support people's well-being in homes and everyday environments, new interactive capabilities will be required, as exemplified by the soft design used for Disney's recent robot character Baymax in…
Robot actions influence the decisions of nearby humans. Here influence refers to intentional change: robots influence humans when they shift the human's behavior in a way that helps the robot complete its task. Imagine an autonomous car…
This paper presents a comprehensive framework to enhance Human-Robot Collaboration (HRC) in real-world scenarios. It introduces a formalism to model articulated tasks, requiring cooperation between two agents, through a smaller set of…
Existing household robots have made significant progress in performing routine tasks, such as cleaning floors or delivering objects. However, a key limitation of these robots is their inability to recognize potential problems or dangers in…
As people coordinate in daily interactions, they engage in different patterns of behavior to achieve successful outcomes. This includes both synchrony - the temporal coordination of the same behaviors at the same time - and complementarity…