Related papers: Robot Behavior Personalization from Sparse User Fe…

Proactive robot assistance enables a robot to anticipate and provide for a user's needs without being explicitly asked. We formulate proactive assistance as the problem of the robot anticipating temporal patterns of object movements…

Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…

Classical autonomous navigation systems can control robots in a collision-free manner, oftentimes with verifiable safety and explainability. When facing new environments, however, fine-tuning of the system parameters by an expert is…

Robot skills systems are meant to reduce robot setup time for new manufacturing tasks. Yet, for dexterous, contact-rich tasks, it is often difficult to find the right skill parameters. One strategy is to learn these parameters by allowing…

Robot motions in the presence of humans should not only be feasible and safe, but also conform to human preferences. This, however, requires user feedback on the robot's behavior. In this work, we propose a novel approach to leverage the…

Personalization in social robots refers to the ability of the robot to meet the needs and/or preferences of an individual user. Existing approaches typically rely on large language models (LLMs) to generate context-aware responses based on…

Artificial Intelligence is being employed by humans to collaboratively solve complicated tasks for search and rescue, manufacturing, etc. Efficient teamwork can be achieved by understanding user preferences and recommending different…

Robot learning approaches such as behavior cloning and reinforcement learning have shown great promise in synthesizing robot skills from human demonstrations in specific environments. However, these approaches often require task-specific…

Collaborative robots, or cobots, are increasingly integrated into various industrial and service settings to work efficiently and safely alongside humans. However, for effective human-robot collaboration, robots must reason based on human…

Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths, while enabling personalized execution of a task. However, for new soft robots with degrees of freedom dissimilar to those of human operators, it is…

We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a robot flexibility to generate smooth and feasible motions;…

Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…

There is a need for socially assistive robots (SARs) to provide transparency in their behavior by explaining their reasoning. Additionally, the reasoning and explanation should represent the user's preferences and goals. To work towards…

Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…

Recent advancements in generative artificial intelligence have introduced groundbreaking approaches to innovating next-generation semantic communication, which prioritizes conveying the meaning of a message rather than merely transmitting…

Large language models enable unscripted conversations while maintaining a consistent personality. One desirable personality trait in cooperative partners, known to improve task performance, is agreeableness. To explore the impact of large…

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…

Robotic assistants in long-term human-robot collaboration need to assist users under partial observations while leveraging cross-day interaction history. However, human traits and routines are often unknown at the beginning of…

In order for cooperative robots ("co-robots") to respond to human behaviors accurately and efficiently in human-robot collaboration, interpretation of human actions, awareness of new situations, and appropriate decision making are all…

With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…