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The mental models that humans form of other agents---encapsulating human beliefs about agent goals, intentions, capabilities, and more---create an underlying basis for interaction. These mental models have the potential to affect both the…
Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…
In the domain of autonomous household robots, it is of utmost importance for robots to understand human behaviors and provide appropriate services. This requires the robots to possess the capability to analyze complex human behaviors and…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
As autonomous machines such as robots and vehicles start performing tasks involving human users, ensuring a safe interaction between them becomes an important issue. Translating methods from human-robot interaction (HRI) studies to the…
The anticipation of human behavior is a crucial capability for robots to interact with humans safely and efficiently. We employ a smart edge sensor network to provide global observations, future predictions, and goal information to…
A service robot can provide a smoother interaction experience if it has the ability to proactively detect whether a nearby user intends to interact, in order to adapt its behavior e.g. by explicitly showing that it is available to provide a…
Close human-robot cooperation is a key enabler for new developments in advanced manufacturing and assistive applications. Close cooperation require robots that can predict human actions and intent, and understand human non-verbal cues.…
In order to safely operate around humans, robots can employ predictive models of human motion. Unfortunately, these models cannot capture the full complexity of human behavior and necessarily introduce simplifying assumptions. As a result,…
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…
As environments involving both robots and humans become increasingly common, so does the need to account for people during planning. To plan effectively, robots must be able to respond to and sometimes influence what humans do. This…
For robots to interact socially, they must interpret human intentions and anticipate their potential outcomes accurately. This is particularly important for social robots designed for human care, which may face potentially dangerous…
In order to be effective teammates, robots need to be able to understand high-level human behavior to recognize, anticipate, and adapt to human motion. We have designed a new approach to enable robots to perceive human group motion in…
The ability to predict the future movements of other vehicles is a subconscious and effortless skill for humans and key to safe autonomous driving. Therefore, trajectory prediction for autonomous cars has gained a lot of attention in recent…
When mobile robots maneuver near people, they run the risk of rudely blocking their paths; but not all people behave the same around robots. People that have not noticed the robot are the most difficult to predict. This paper investigates…
Humans learn from observations and experiences to adjust their behaviours towards better performance. Interacting with such dynamic humans is challenging, as the robot needs to predict the humans accurately for safe and efficient…
This paper proposes a robot action planning scheme that provides an efficient and probabilistically safe plan for a robot interacting with an unconcerned human -- someone who is either unaware of the robot's presence or unwilling to engage…
Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…
A robot operating in isolation needs to reason over the uncertainty in its model of the world and adapt its own actions to account for this uncertainty. Similarly, a robot interacting with people needs to reason over its uncertainty over…
Efficient action prediction is of central importance for the fluent workflow between humans and equally so for human-robot interaction. To achieve prediction, actions can be encoded by a series of events, where every event corresponds to a…