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Augmented reality (AR) offers immersive interaction but remains inaccessible for users with motor impairments or limited dexterity due to reliance on precise input methods. This study proposes a gesture-based interaction system for AR…
Artificial intelligence technologies that can assist with at-home tasks have the potential to help older adults age in place. Robot assistance in particular has been applied towards physical and cognitive support for older adults living…
Optimizing and refining action execution through exploration and interaction is a promising way for robotic manipulation. However, practical approaches to interaction-driven robotic learning are still underexplored, particularly for…
When robots enter everyday human environments, they need to understand their tasks and how they should perform those tasks. To encode these, reward functions, which specify the objective of a robot, are employed. However, designing reward…
In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…
An important application of interactive machine learning is extending or amplifying the cognitive and physical capabilities of a human. To accomplish this, machines need to learn about their human users' intentions and adapt to their…
The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast,…
Adjusting robot behavior to human preferences can require intensive human feedback, preventing quick adaptation to new users and changing circumstances. Moreover, current approaches typically treat user preferences as a reward, which…
This paper considers how the motions of a telepresence robot moving autonomously affect a person immersed in the robot through a head-mounted display. In particular, we explore the preference, comfort, and naturalness of elements of…
With the outlook of improving communication and social abilities of people with ASD, we propose to extend the paradigm of robot-based imitation games to ASD teenagers. In this paper, we present an interaction scenario adapted to ASD…
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…
The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…
One way to improve the relationship between humans and anthropomorphic agents is to have humans empathize with the agents. In this study, we focused on a task between an agent and a human in which the agent makes a mistake. To investigate…
When deploying interactive agents like (social) robots in public spaces they need to be able to interact with a diverse audience, with members each having individual diversity characteristics and prior experiences with interactive systems.…
In recent years, the demand for social robots has grown, requiring them to adapt their behaviors based on users' states. Accurately assessing user experience (UX) in human-robot interaction (HRI) is crucial for achieving this adaptability.…
A typical application of upper-limb exoskeleton robots is deployment in rehabilitation training, helping patients to regain manipulative abilities. However, as the patient is not always capable of following the robot, safety issues may…
Every day life tasks can present significant challenges for neurodivergent individuals, particularly those with Autism Spectrum Disorders (ASD) who are characterized by specific sensitivities. This contribution describes a virtual reality…
This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…
The goal of this study is to identify factors that support and enhance older adults' creative experiences in human-robot co-creativity. Because the research into the use of robots for creativity support with older adults remains…
Spoken language interaction is at the heart of interpersonal communication, and people flexibly adapt their speech to different individuals and environments. It is surprising that robots, and by extension other digital devices, are not…