Related papers: HARMONIC: Cognitive and Control Collaboration in H…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
In this paper, we investigate the impact of high-level semantics (evaluation of the environment) on Human-Robot Teams (HRT) and Human-Robot Interaction (HRI) in the context of mobile robot deployments. Although semantics has been widely…
Recent advances in multi-agent reinforcement learning (MARL) are enabling impressive coordination in heterogeneous multi-robot teams. However, existing approaches often overlook the challenge of generalizing learned policies to teams of new…
We present a reinforcement learning based framework for human-centered collaborative systems. The framework is proactive and balances the benefits of timely actions with the risk of taking improper actions by minimizing the total time spent…
In Human-Robot Collaboration, the robot operates in a highly dynamic environment. Thus, it is pivotal to guarantee the robust stability of the system during the interaction but also a high flexibility of the robot behavior in order to…
Vision-and-Language Navigation (VLN) is a multi-modal, cooperative task requiring agents to interpret human instructions, navigate 3D environments, and communicate effectively under ambiguity. This paper presents a comprehensive review of…
Existing human-robot interaction systems often lack mechanisms for sustained personalization and dynamic adaptation in multi-user environments, limiting their effectiveness in real-world deployments. We present HARMONI, a multimodal…
An important open question in human-robot interaction (HRI) is precisely when an agent should decide to communicate, particularly in a cooperative task. Perceptual Control Theory (PCT) tells us that agents are able to cooperate on a joint…
The integration of large language models (LLMs) with robotics has significantly advanced robots' abilities in perception, cognition, and task planning. The use of natural language interfaces offers a unified approach for expressing the…
Worker-Robot Cooperation is a new industrial trend, which aims to sum the advantages of both the human and the industrial robot to afford a new intelligent manufacturing techniques. The cooperative manufacturing between the worker and the…
Collaboration is central to human behavior, enabling tasks beyond individual capability. This ability arises from coordinating actions through internal representations of others, a concept known as shared intelligence. Additionally, humans…
Artificial Intelligence (AI) techniques, particularly machine learning techniques, are rapidly transforming tactical operations by augmenting human decision-making capabilities. This paper explores AI-driven Human-Autonomy Teaming (HAT) as…
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…
In this paper, we present a planning framework that uses a combination of implicit (robot motion) and explicit (visual/audio/haptic feedback) communication during mobile robot navigation. First, we developed a model that approximates both…
Human autonomy and sense of agency are increasingly recognised as critical for user well-being, motivation, and the ethical deployment of robots in human-robot interaction (HRI). Given the rapid development of artificial intelligence, robot…
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…
In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long…
Robots with a high level of autonomy are increasingly requested by smart industries. A way to reduce the workers' stress and effort is to optimize the working environment by taking advantage of autonomous collaborative robots. A typical…
The topic of physical human-robot interaction received a lot of attention from the robotics community because of many promising application domains. However, studying physical interaction between a robot and an external agent, like a human…
When agents collaborate on a task, it is important that they have some shared mental model of the task routines -- the set of feasible plans towards achieving the goals. However, in reality, situations often arise that such a shared mental…