Related papers: Learning Nonverbal Cues in Multiparty Social Inter…
Social learning plays an important role in the development of human intelligence. As children, we imitate our parents' speech patterns until we are able to produce sounds; we learn from them praising us and scolding us; and as adults, we…
Free-standing social conversations constitute a yet underexplored setting for human behavior forecasting. While the task of predicting pedestrian trajectories has received much recent attention, an intrinsic difference between these…
Our world is not static and humans naturally cause changes in their environments through interactions, e.g., opening doors or moving furniture. Modeling changes caused by humans is essential for building digital twins, e.g., in the context…
Nonverbal behaviors, particularly gaze direction, play a crucial role in enhancing effective communication in social interactions. As social robots increasingly participate in these interactions, they must adapt their gaze based on human…
In this paper we present a pilot study which investigates how non-verbal behavior affects social influence in social robots. We also present a modular system which is capable of controlling the non-verbal behavior based on the…
In this paper, we leverage the rapid advances in imitation learning, a topic of intense recent focus in the Reinforcement Learning (RL) literature, to develop new sample complexity results and performance guarantees for data-driven Model…
Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…
We present Intermittent Control (IC) models as a candidate framework for modelling human input movements in Human--Computer Interaction (HCI). IC differs from continuous control in that users are not assumed to use feedback to adjust their…
Ensuring safety in robotic systems remains a fundamental challenge, especially when deploying offline policy-learning methods such as imitation learning in dynamic environments. Traditional behavior cloning (BC) often fails to generalize…
Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…
The rapid development of collaborative robotics has provided a new possibility of helping the elderly who has difficulties in daily life, allowing robots to operate according to specific intentions. However, efficient human-robot…
Mirroring non-verbal social cues such as affect or movement can enhance human-human and human-robot interactions in the real world. The robotic platforms and control methods also impact people's perception of human-robot interaction.…
Understanding the intentions of robots is essential for natural and seamless human-robot collaboration. Ensuring that robots have means for non-verbal communication is a basis for intuitive and implicit interaction. For this, we contribute…
Quick interaction between a human teacher and a learning machine presents numerous benefits and challenges when working with web-scale data. The human teacher guides the machine towards accomplishing the task of interest. The learning…
Adversarial imitation learning (AIL) achieves high-quality imitation by mitigating compounding errors in behavioral cloning (BC), but often exhibits training instability due to adversarial optimization. To avoid this issue, a class of…
In many sequential decision-making problems (e.g., robotics control, game playing, sequential prediction), human or expert data is available containing useful information about the task. However, imitation learning (IL) from a small amount…
Humans use semantic concepts such as spatial relations between objects to describe scenes and communicate tasks such as "Put the tea to the right of the cup" or "Move the plate between the fork and the spoon." Just as children, assistive…
Gaze cueing is a fundamental part of social interactions, and broadly studied using Posner task based gaze cueing paradigms. While studies using human stimuli consistently yield a gaze cueing effect, results from studies using robotic…
A major bottleneck in imitation learning is the requirement of a large number of expert demonstrations, which can be expensive or inaccessible. Learning from supplementary demonstrations without strict quality requirements has emerged as a…
This paper tackles the challenging task of evaluating socially situated conversational robots and presents a novel objective evaluation approach that relies on multimodal user behaviors. In this study, our main focus is on assessing the…