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Cooperation among humans makes it easy to execute tasks and navigate seamlessly even in unknown scenarios. With our individual knowledge and collective cognition skills, we can reason about and perform well in unforeseen situations and…
Robots are moving beyond industrial settings into creative, educational, and public environments where interaction is open-ended and improvisational. Yet much of human-AI-robot interaction remains framed around performance and efficiency,…
This paper identifies stylistic differences in instruction-giving observed in a corpus of human-robot dialogue. Differences in verbosity and structure (i.e., single-intent vs. multi-intent instructions) arose naturally without restrictions…
When encountering a robot in the wild, it is not inherently clear to human users what the robot's capabilities are. When encountering misunderstandings or problems in spoken interaction, robots often just apologize and move on, without…
This study contributes to the evolving field of robot learning in interaction with humans, examining the impact of diverse input modalities on learning outcomes. It introduces the concept of "meta-modalities" which encapsulate additional…
This paper explores the concept of engagement, the process by which individuals in an interaction start, maintain and end their perceived connection to one another. The paper reports on one aspect of engagement among human interactors--the…
Explanations constitute an important aspect of successful human robot interactions and can enhance robot understanding. To improve the understanding of the robot, we have developed four levels of explanation (LOE) based on two questions:…
Effective communication between humans and collaborative robots is essential for seamless Human-Robot Collaboration (HRC). In noisy industrial settings, nonverbal communication, such as gestures, plays a key role in conveying commands and…
Speakers build rapport in the process of aligning conversational behaviors with each other. Rapport engendered with a teachable agent while instructing domain material has been shown to promote learning. Past work on lexical alignment in…
In this paper, we present a planning framework that uses a combination of implicit (robot motion) and explicit (visual/audio/haptic feedback) communication during mobile robot navigation. First, we developed a model that approximates both…
The human-robot interaction (HRI) field has recognized the importance of enabling robots to interact with teams. Human teams rely on effective communication for successful collaboration in time-sensitive environments. Robots can play a role…
This article presents an implementation of a natural-language speech interface and a haptic feedback interface that enables a human supervisor to provide guidance to, request information, and receive status updates from a Spot robot. We…
Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…
Social robots are required not only to understand human intentions but also to effectively communicate their intentions or own internal states to users. This study explores the use of sonification to provide explicit auditory feedback,…
In this paper, we extended the method proposed in [21] to enable humans to interact naturally with autonomous agents through vocal and textual conversations. Our extended method exploits the inherent capabilities of pre-trained large…
Robots in shared spaces often move in ways that are difficult for people to interpret, placing the burden on humans to adapt. High-DoF robots exhibit motion that people read as expressive, intentionally or not, making it important to…
When cooperating with a human, a robot should not only care about its environment and task but also develop an understanding of the partner's reasoning. To support its human partner in complex tasks, the robot can share information that it…
The study of Human-Robot Interaction (HRI) aims to create close and friendly communication between humans and robots. In the human-center HRI, an essential aspect of implementing a successful and effective HRI is building a natural and…
Nonverbal visual symbols and displays play an important role in communication when humans and robots work collaboratively. However, few studies have investigated how different types of non-verbal cues affect objective task performance,…
When a robot performs a task next to a human, physical interaction is inevitable: the human might push, pull, twist, or guide the robot. The state-of-the-art treats these interactions as disturbances that the robot should reject or avoid.…