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The advent of cyber-physical systems, such as robots and autonomous vehicles (AVs), brings new opportunities and challenges for the domain of interaction design. Though there is consensus about the value of human-centred development, there…
Understanding how people interact with their surroundings and each other is essential for enabling robots to act in socially compliant and context-aware ways. While 3D Scene Graphs have emerged as a powerful semantic representation for…
While robots are increasingly integrated into the built environment, little is known how their qualities can meaningfully influence our spaces to facilitate enjoyable and agreeable interaction, rather than robotic settings that are driven…
As robots increasingly become part of shared human spaces, their movements must transcend basic functionality by incorporating expressive qualities to enhance engagement and communication. This paper introduces a movement-centered design…
Learning generic skills for humanoid robots interacting with 3D scenes by mimicking human data is a key research challenge with significant implications for robotics and real-world applications. However, existing methodologies and…
Recent work in the construction of 3D scene graphs has enabled mobile robots to build large-scale metric-semantic hierarchical representations of the world. These detailed models contain information that is useful for planning, however an…
3D scene graphs (3DSGs) are an emerging description; unifying symbolic, topological, and metric scene representations. However, typical 3DSGs contain hundreds of objects and symbols even for small environments; rendering task planning on…
This paper describes the initial steps towards the design of a robotic system that intends to perform actions autonomously in a naturalistic play environment. At the same time it aims for social human-robot interaction~(HRI), focusing on…
When humans and robotic agents coexist in an environment, scene understanding becomes crucial for the agents to carry out various downstream tasks like navigation and planning. Hence, an agent must be capable of localizing and identifying…
Accessibility is one of the most important features in the design of robots and their interfaces. This thesis proposes methods that improve the accessibility of robots for three different target audiences: consumers, researchers, and…
As robots become more prevalent, the complexity of robot-robot, robot-human, and robot-environment interactions increases. In these interactions, a robot needs to consider not only the effects of its own actions, but also the effects of…
Designing robots capable of generating interpretable behavior is a prerequisite for achieving effective human-robot collaboration. This means that the robots need to be capable of generating behavior that aligns with human expectations and,…
Soft robots promise inherent safety via their material compliance for seamless interactions with humans or delicate environments. Yet, their development is challenging because it requires integrating materials, geometry, actuation, and…
This paper presents the design and development of an innovative interactive robotic system to enhance audience engagement using character-like personas. Built upon the foundations of persona-driven dialog agents, this work extends the…
Robot planning in partially observable domains is difficult, because a robot needs to estimate the current state and plan actions at the same time. When the domain includes many objects, reasoning about the objects and their relationships…
Developing whole-body tactile skins for robots remains a challenging task, as existing solutions often prioritize modular, one-size-fits-all designs, which, while versatile, fail to account for the robot's specific shape and the unique…
To solve its task, a robot needs to have the ability to interpret its perceptions. In vision, this interpretation is particularly difficult and relies on the understanding of the structure of the scene, at least to the extent of its task…
Sequentially interacting with articulated objects is crucial for a mobile manipulator to operate effectively in everyday environments. To enable long-horizon tasks involving articulated objects, this study explores building scene-level…
We present a systematic review on tasks, interactions, and visualization widgets (refer to tangible entities that are used to accomplish data exploration tasks through specific interactions) in the context of tangible data exploration.…
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…