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The number of robots deployed in our daily surroundings is ever-increasing. Even in the industrial set-up, the use of coworker robots is increasing rapidly. These cohabitant robots perform various tasks as instructed by co-located human…
Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…
Service and assistive robots are increasingly being deployed in dynamic social environments; however, ensuring transparent and explainable interactions remains a significant challenge. This paper presents a multimodal explainability module…
Large Language Models (LLMs) have been shown to act like planners that can decompose high-level instructions into a sequence of executable instructions. However, current LLM-based planners are only able to operate with a fixed set of…
Robots are increasingly common in industry and daily life, such as in nursing homes where they can assist staff. A key challenge is developing intuitive interfaces for easy communication. The use of Large Language Models (LLMs) like GPT-4…
This paper presents a framework that can interpret humans' navigation commands containing temporal elements and directly translate their natural language instructions into robot motion planning. Central to our framework is utilizing Large…
We consider task allocation for multi-object transport using a multi-robot system, in which each robot selects one object among multiple objects with different and unknown weights. The existing centralized methods assume the number of…
Industrial robotics is characterized by sophisticated mechanical components and highly-developed real-time control algorithms. However, the efficient use of robotic systems is very much limited by existing proprietary programming methods.…
Natural language is an effective tool for communication, as information can be expressed in different ways and at different levels of complexity. Verbal commands, utilized for instructing robot tasks, can therefor replace traditional robot…
When instructing robots, users want to flexibly express constraints, refer to arbitrary landmarks, and verify robot behavior, while robots must disambiguate instructions into specifications and ground instruction referents in the real…
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…
Ambiguity and noise in natural language instructions create a significant barrier towards adopting autonomous systems into safety critical workflows involving humans and machines. In this paper, we propose to build on recent advances in…
Robots in shared workspaces must interpret human actions from partial, ambiguous observations, where overconfident early predictions can lead to unsafe or disruptive interaction. This challenge is amplified in egocentric views, where…
Recent manufacturing systems are increasingly adopting multi-robot collaboration to handle complex and dynamic environments. While multi-agent architectures support decentralized coordination among robot agents, they often face challenges…
Controlling robots to perform tasks via natural language is one of the most challenging topics in human-robot interaction. In this work, we present a robot system that follows unconstrained language instructions to pick and place arbitrary…
This paper addresses a task allocation problem for a large-scale robotic swarm, namely swarm distribution guidance problem. Unlike most of the existing frameworks handling this problem, the proposed framework suggests utilising local…
Using natural language to give instructions to robots is challenging, since natural language understanding is still largely an open problem. In this paper we address this problem by restricting our attention to commands modeled as one…
In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration…
As robotic systems become increasingly integrated into complex real-world environments, there is a growing need for approaches that enable robots to understand and act upon natural language instructions without relying on extensive…
Increased robot deployment, such as in warehousing, has revealed a need for seamless collaboration among heterogeneous robot teams to resolve unforeseen conflicts. To address this challenge, we propose a novel, decentralized framework for…