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Robotic agents that share autonomy with a human should leverage human domain knowledge and account for their preferences when completing a task. This extra knowledge can dramatically improve plan efficiency and user-satisfaction, but these…
Virtual reality (VR) interfaces for robots provide a three-dimensional (3D) view of the robot in its environment, which allows people to better plan complex robot movements in tight or cluttered spaces. In our prior work, we created a VR…
We present an approach to learn general robot manipulation priors from 3D hand-object interaction trajectories. We build a framework to use in-the-wild videos to generate sensorimotor robot trajectories. We do so by lifting both the human…
In this paper, we propose the use of traditional animations, heuristic behavior and reinforcement learning in the creation of intelligent characters for computational media. The traditional animation and heuristic gives artistic control…
The demand for social robots in fields like healthcare, education, and entertainment increases due to their emotional adaptation features. These robots leverage multimodal communication, incorporating speech, facial expressions, and…
Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…
Humans and animals are capable of learning a new behavior by observing others perform the skill just once. We consider the problem of allowing a robot to do the same -- learning from a raw video pixels of a human, even when there is…
Audio-driven 3D facial animation aims to generate synchronized lip movements and vivid facial expressions from arbitrary audio clips. While existing methods can produce synchronized lip motions, they often rely on predefined identity or…
Facial expressions are vital in human communication and significantly influence outcomes in human-robot interaction (HRI), such as likeability, trust, and companionship. However, current methods for generating robotic facial expressions are…
Robots are becoming increasingly popular in a wide range of environments due to their exceptional work capacity, precision, efficiency, and scalability. This development has been further encouraged by advances in Artificial Intelligence,…
Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…
Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform…
Recent advancements have enabled human-robot collaboration through physical assistance and verbal guidance. However, limitations persist in coordinating robots' physical motions and speech in response to real-time changes in human behavior…
Robotic manipulation requires accurate motion and physical interaction control. However, current robot learning approaches focus on motion-centric action spaces that do not explicitly give the policy control over the interaction. In this…
Contemporary robots have become exceptionally skilled at achieving specific tasks in structured environments. However, they often fail when faced with the limitless permutations of real-world unstructured environments. This motivates…
Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…
In this paper, we present a study aimed at understanding whether the embodiment and humanlikeness of an artificial agent can affect people's spontaneous and instructed mimicry of its facial expressions. The study followed a mixed…
Facial motion capture in mixed reality headsets enables real-time avatar animation, allowing users to convey non-verbal cues during virtual interactions. However, as facial motion data constitutes a behavioral biometric, its use raises…
As intelligent robots become more integrated into human environments, there is a growing need for intuitive and reliable Human-Robot Interaction (HRI) interfaces that are adaptable and more natural to interact with. Traditional robot…
Over the past few years, the automatic generation of facial animation for virtual characters has garnered interest among the animation research and industry communities. Recent research contributions leverage machine-learning approaches to…