Related papers: Legible and Proactive Robot Planning for Prosocial…

Robotic agents that share autonomy with a human should leverage human domain knowledge and account for their preferences when completing a task. This extra knowledge can dramatically improve plan efficiency and user-satisfaction, but these…

In cooperative environments, such as in factories or assistive scenarios, it is important for a robot to communicate its intentions to observers, who could be either other humans or robots. A legible trajectory allows an observer to quickly…

Effective error detection is crucial to prevent task disruption and maintain user trust. Traditional methods often rely on task-specific models or user reporting, which can be inflexible or slow. Recent research suggests social signals,…

We present a framework for learning human user models from joint-action demonstrations that enables the robot to compute a robust policy for a collaborative task with a human. The learning takes place completely automatically, without any…

Tasks where robots must anticipate human intent, such as navigating around a cluttered home or sorting everyday items, are challenging because they exhibit a wide range of valid actions that lead to similar outcomes. Moreover, zero-shot…

This paper proposes a formal robot motion risk reasoning framework and develops a risk-aware path planner that minimizes the proposed risk. While robots locomoting in unstructured or confined environments face a variety of risk, existing…

Multi-robot systems are increasingly being used for critical applications such as rescuing injured people, delivering food and medicines, and monitoring key areas. These applications usually involve navigating at high speeds through…

When robots interact with human partners, often these partners change their behavior in response to the robot. On the one hand this is challenging because the robot must learn to coordinate with a dynamic partner. But on the other hand --…

Navigating socially in human environments requires more than satisfying geometric constraints, as collision-free paths may still interfere with ongoing activities or conflict with social norms. Addressing this challenge calls for analyzing…

Intentional or unintentional contacts are bound to occur increasingly more often due to the deployment of autonomous systems in human environments. In this paper, we devise methods to computationally predict imminent collisions between…

Coordinating a team of robots to reposition multiple objects in cluttered environments requires reasoning jointly about where robots should establish contact, how to manipulate objects once contact is made, and how to navigate safely and…

Ensuring human safety in collaborative robotics can compromise efficiency because traditional safety measures increase robot cycle time when human interaction is frequent. This paper proposes a safety-aware approach to mitigate efficiency…

In this paper we propose a framework for ethical decision making in the context of planning, with intended application to robotics. We put forward a compact but highly expressive language for ethical planning that combines linear temporal…

Robot understanding of human intentions is essential for fluid human-robot interaction. Intentions, however, cannot be directly observed and must be inferred from behaviors. We learn a model of adaptive human behavior conditioned on the…

Nowadays robot is supposed to demonstrate human-like perception, reasoning and behavior pattern in social or service application. However, most of the existing motion planning methods are incompatible with above requirement. A potential…

In this paper, a cooperative decision-making is presented, which is suitable for intention-aware automated vehicle functions. With an increasing number of highly automated and autonomous vehicles on public roads, trust is a very important…

Customizing robotic behaviors to be aligned with diverse human preferences is an underexplored challenge in the field of embodied AI. In this paper, we present Promptable Behaviors, a novel framework that facilitates efficient…

Social robot navigation can be helpful in various contexts of daily life but requires safe human-robot interactions and efficient trajectory planning. While modeling pairwise relations has been widely studied in multi-agent interacting…

In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…

Reactive collision avoidance is essential for agile robots navigating complex and dynamic environments, enabling real-time obstacle response. However, this task is inherently challenging because it requires a tight integration of…