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Despite recent advances in robotics and human-robot collaboration in the AEC industry, trust has mostly been treated as a static factor, with little guidance on how it changes across events during collaboration. This paper investigates how…
Brain-controlled robots are a promising new type of assistive device for severely impaired persons. Little is however known about how to optimize the interaction of humans and brain-controlled robots. Information about the human's perceived…
Robots have been increasingly better at doing tasks for humans by learning from their feedback, but still often suffer from model misalignment due to missing or incorrectly learned features. When the features the robot needs to learn to…
Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…
Programming robots to perform complex tasks is often difficult and time consuming, requiring expert knowledge and skills in robot software and sometimes hardware. Imitation learning is a method for training robots to perform tasks by…
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,…
Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a…
Robots are more capable of achieving manipulation tasks for everyday activities than before. But the safety of manipulation skills that robots employ is still an open problem. Considering all possible failures during skill learning…
Human--robot interaction requires robots whose actions are legible, allowing humans to interpret, predict, and feel safe around them. This study investigates the legibility of humanoid robot arm movements in a pointing task, aiming to…
Imitation learning is a promising approach to help robots acquire dexterous manipulation capabilities without the need for a carefully-designed reward or a significant computational effort. However, existing imitation learning approaches…
Reading code is an essential activity in software maintenance and evolution. Several studies with human subjects have investigated how different factors, such as the employed programming constructs and naming conventions, can impact code…
Human-AI collaboration increasingly drives decision-making across industries, from medical diagnosis to content moderation. While AI systems promise efficiency gains by providing automated suggestions for human review, these workflows can…
In human-robot collaboration (HRC), human trust in the robot is the human expectation that a robot executes tasks with desired performance. A higher-level trust increases the willingness of a human operator to assign tasks, share plans, and…
As robots become increasingly prevalent in human environments, there will inevitably be times when a robot needs to interrupt a human to initiate an interaction. Our work introduces the first interruptibility-aware mobile robot system, and…
Specifying reward functions for robots that operate in environments without a natural reward signal can be challenging, and incorrectly specified rewards can incentivise degenerate or dangerous behavior. A promising alternative to manually…
Human-to-human conversation is not just talking and listening. It is an incremental process where participants continually establish a common understanding to rule out misunderstandings. Current language understanding methods for…
In robotics, one of the main challenges is that the on-board Artificial Intelligence (AI) must deal with different or unexpected environments. Such AI agents may be incompetent there, while the underlying model itself may not be aware of…
Joint human-AI inference holds immense potential to improve outcomes in human-supervised robot missions. Current day missions are generally in the AI-assisted setting, where the human operator makes the final inference based on the AI…
In the domain of autonomous household robots, it is of utmost importance for robots to understand human behaviors and provide appropriate services. This requires the robots to possess the capability to analyze complex human behaviors and…
Reinforcement learning (RL) has become widely adopted in robot control. Despite many successes, one major persisting problem can be very low data efficiency. One solution is interactive feedback, which has been shown to speed up RL…