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Knowledge graphs are often used to represent structured information in a flexible and efficient manner, but their use in situated dialogue remains under-explored. This paper presents a novel conversational model for human--robot interaction…
Navigating fluently around pedestrians is a necessary capability for mobile robots deployed in human environments, such as buildings and homes. While research on social navigation has focused mainly on the scalability with the number of…
Human interaction involves very sophisticated non-verbal communication skills like understanding the goals and actions of others and coordinating our own actions accordingly. Neuroscience refers to this mechanism as motor resonance, in the…
Humans intuitively move to sound, but current humanoid robots lack expressive improvisational capabilities, confined to predefined motions or sparse commands. Generating motion from audio and then retargeting it to robots relies on explicit…
Agriculture is facing a labor crisis, leading to increased interest in fleets of small, under-canopy robots (agbots) that can perform precise, targeted actions (e.g., crop scouting, weeding, fertilization), while being supervised by human…
To perform robot manipulation tasks, a low-dimensional state of the environment typically needs to be estimated. However, designing a state estimator can sometimes be difficult, especially in environments with deformable objects. An…
Many real-world reinforcement learning (RL) problems necessitate learning complex, temporally extended behavior that may only receive reward signal when the behavior is completed. If the reward-worthy behavior is known, it can be specified…
The recent success of reinforcement learning's (RL) in solving complex tasks is most often attributed to its capacity to explore and exploit an environment where it has been trained. Sample efficiency is usually not an issue since cheap…
Recent successes combine reinforcement learning algorithms and deep neural networks, despite reinforcement learning not being widely applied to robotics and real world scenarios. This can be attributed to the fact that current…
Building assistive interfaces for controlling robots through arbitrary, high-dimensional, noisy inputs (e.g., webcam images of eye gaze) can be challenging, especially when it involves inferring the user's desired action in the absence of a…
Learning a goal-oriented dialog policy is generally performed offline with supervised learning algorithms or online with reinforcement learning (RL). Additionally, as companies accumulate massive quantities of dialog transcripts between…
While reinforcement learning (RL) has the potential to enable robots to autonomously acquire a wide range of skills, in practice, RL usually requires manual, per-task engineering of reward functions, especially in real world settings where…
In this paper, we aim to explore the use of uplink semantic communications with the assistance of UAV in order to improve data collection effiicency for metaverse users in remote areas. To reduce the time for uplink data collection while…
Natural-language dialog is key for intuitive human-robot interaction. It can be used not only to express humans' intents, but also to communicate instructions for improvement if a robot does not understand a command correctly. Of great…
Adaptive interfaces can help users perform sequential decision-making tasks like robotic teleoperation given noisy, high-dimensional command signals (e.g., from a brain-computer interface). Recent advances in human-in-the-loop machine…
One of the fundamental functionalities for accepting a socially assistive robot is its communication capabilities with other agents in the environment. In the context of the ROBIN project, situational dialogue through voice interaction with…
Voice is an essential modality for human-robot interaction (HRI). The way a robot sounds plays a central role in shaping how humans perceive and engage with it, influencing factors such as intelligibility, understandability, and likability.…
Affective tactile interaction constitutes a fundamental component of human communication. In natural human-human encounters, touch is seldom experienced in isolation; rather, it is inherently multisensory. Individuals not only perceive the…
Interactions with virtual assistants typically start with a predefined trigger phrase followed by the user command. To make interactions with the assistant more intuitive, we explore whether it is feasible to drop the requirement that users…
We present a novel method for collaborative robots (cobots) to learn manipulation tasks and perform them in a human-like manner. Our method falls under the learn-from-observation (LfO) paradigm, where robots learn to perform tasks by…