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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…
A remote collaboration setup allows an expert to instruct a remotely located novice user to help them with a task. Advanced solutions exist in the field of remote guidance and telemanipulation, however, we lack a device that combines these…
Children with Autism Spectrum Disorder find robots easier to communicate with than humans. Thus, robots have been introduced in autism therapies. However, due to the environmental complexity, the used robots often have to be controlled…
In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly or explicitly control the contact force with the environment…
In this study, we develop a simple daily assistive robot that controls its own vision according to linguistic instructions. The robot performs several daily tasks such as recording a user's face, hands, or screen, and remotely capturing…
Modern conversational agents such as Alexa and Google Assistant represent significant progress in speech recognition, natural language processing, and speech synthesis. But as these agents have grown more realistic, concerns have been…
The development of human-robot collaboration has the ability to improve manufacturing system performance by leveraging the unique strengths of both humans and robots. On the shop floor, human operators contribute with their adaptability and…
If a picture paints a thousand words, sound may voice a million. While recent robotic painting and image synthesis methods have achieved progress in generating visuals from text inputs, the translation of sound into images is vastly…
Natural human-robot interaction in complex and unpredictable environments is one of the main research lines in robotics. In typical real-world scenarios, humans are at some distance from the robot and the acquired signals are strongly…
Conversational agents, such as chatbots and virtual assistants, have become essential in software development, boosting productivity, collaboration, and automating various tasks. This paper examines the role of adaptive AI-powered…
Automated Speech Recognition shows superhuman performance for adult English speech on a range of benchmarks, but disappoints when fed children's speech. This has long sat in the way of child-robot interaction. Recent evolutions in…
Collaboration between human and robot requires effective modes of communication to assign robot tasks and coordinate activities. As communication can utilize different modalities, a multi-modal approach can be more expressive than single…
Speech recognition is a prominent technology, which helps us to develop a Natural language interface through speech for the Human-Robot Interaction (HRI). It allows the computer to take the spoken instructions, interpret it, and generate…
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…
Referring expressions are commonly used when referring to a specific target in people's daily dialogue. In this paper, we develop a novel task of audio-visual grounding referring expression for robotic manipulation. The robot leverages both…
Assistive robot arms enable people with disabilities to conduct everyday tasks on their own. These arms are dexterous and high-dimensional; however, the interfaces people must use to control their robots are low-dimensional. Consider…
How can multiple humans interact with multiple robots? The goal of our research is to create an effective interface that allows multiple operators to collaboratively control teams of robots in complex tasks. In this paper, we focus on a key…
Navigating large and complex indoor environments, such as universities, airports, and hospitals, can be cognitively demanding and requires attention and effort. While mobile applications provide convenient navigation support, they occupy…
Ambiguity and noise in natural language instructions create a significant barrier towards adopting autonomous systems into safety critical workflows involving humans and machines. In this paper, we propose to build on recent advances in…
Robots operating in human spaces must be able to engage in natural language interaction with people, both understanding and executing instructions, and using conversation to resolve ambiguity and recover from mistakes. To study this, we…