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As robots enter human environments, they will be expected to accomplish a tremendous range of tasks. It is not feasible for robot designers to pre-program these behaviors or know them in advance, so one way to address this is through…
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 manipulation tasks by natural language instructions need common understanding of the target object between human and the robot. However, the instructions often have an interpretation ambiguity, because the instruction lacks important…
Robotic minimally invasive interventions typically require using more than two instruments. We thus developed a foot pedal interface which allows the user to control a robotic arm (simultaneously to working with the hands) with four degrees…
Language-conditioned robot manipulation is an emerging field aimed at enabling seamless communication and cooperation between humans and robotic agents by teaching robots to comprehend and execute instructions conveyed in natural language.…
Intuitively, obedience -- following the order that a human gives -- seems like a good property for a robot to have. But, we humans are not perfect and we may give orders that are not best aligned to our preferences. We show that when a…
As robots are being integrated into our daily lives, it becomes necessary to provide guarantees on the safe and provably correct operation. Such guarantees can be provided using automata theoretic task and mission planning where the…
In modern society, service robots are increasingly recognized for their wide range of practical applications. In large and crowded social spaces, such as museums and hospitals, these robots are required to safely move in the environment…
The physical design of a robot suggests expectations of that robot's functionality for human users and collaborators. When those expectations align with the true capabilities of the robot, interaction with the robot is enhanced. However,…
We consider a service robot that offers chocolate treats to people passing in its proximity: it has the capability of predicting in advance a person's intention to interact, and to actuate an "offering" gesture, subtly extending the tray of…
Soft robots, compared to rigid robots, possess inherent advantages, including higher degrees of freedom, compliance, and enhanced safety, which have contributed to their increasing application across various fields. Among these benefits,…
A robot as a coworker or a cohabitant is becoming mainstream day-by-day with the development of low-cost sophisticated hardware. However, an accompanying software stack that can aid the usability of the robotic hardware remains the…
Self-adaptive software (SAS) is capable of adjusting its behavior in response to meaningful changes in the operational context and itself. Due to the inherent volatility of the open and changeable environment in which SAS is embedded, the…
This paper reports a case study on the User Experience (UX)of an industrial robotic prototype in the context of human-robot cooperation in an automotive assembly line. The goal was to find out what kinds of suggestions the assembly line…
Quantitatively evaluating and comparing the performance of robotic solutions that are designed to work under a variety of conditions is inherently challenging because they need to be evaluated under numerous precisely repeatable conditions…
Infants acquire language with generalization from minimal experience, whereas large language models require billions of training tokens. What underlies efficient development in humans? We investigated this problem through experiments…
Robots in the real world should be able to adapt to unforeseen circumstances. Particularly in the context of tool use, robots may not have access to the tools they need for completing a task. In this paper, we focus on the problem of tool…
Executing multiple tasks concurrently is important in many robotic applications. Moreover, the prioritization of tasks is essential in applications where safety-critical tasks need to precede application-related objectives, in order to…
In order to fully exploit the advantages inherent to cooperating heterogeneous multi-robot teams, sophisticated coordination algorithms are essential. Time-extended multi-robot task allocation approaches assign and schedule a set of tasks…
In many real-world applications of control system and robotics, linear temporal logic (LTL) is a widely-used task specification language which has a compositional grammar that naturally induces temporally extended behaviours across tasks,…