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The integration of artificial intelligence (AI) into human decision-making processes at the workplace presents both opportunities and challenges. One promising approach to leverage existing complementary capabilities is allowing humans to…
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…
As robots become increasingly integrated into various industries, understanding how humans respond to robotic failures is critical. This study systematically examines trust dynamics and system design by analyzing human reactions to robot…
The speed and accuracy with which robots are able to interpret natural language is fundamental to realizing effective human-robot interaction. A great deal of attention has been paid to developing models and approximate inference algorithms…
Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…
An important open question in human-robot interaction (HRI) is precisely when an agent should decide to communicate, particularly in a cooperative task. Perceptual Control Theory (PCT) tells us that agents are able to cooperate on a joint…
In this paper, we describe the development of symbolic representations annotated on human-robot dialogue data to make dimensions of meaning accessible to autonomous systems participating in collaborative, natural language dialogue, and to…
Cooperation among humans makes it easy to execute tasks and navigate seamlessly even in unknown scenarios. With our individual knowledge and collective cognition skills, we can reason about and perform well in unforeseen situations and…
Robots can learn preferences from human demonstrations, but their success depends on how informative these demonstrations are. Being informative is unfortunately very challenging, because during teaching, people typically get no…
Human interaction involves very sophisticated non-verbal communication skills like understanding the goals and actions of others and coordinating our own actions accordingly. Neuroscience refers to this mechanism as motor resonance, in the…
Natural language understanding for robotics can require substantial domain- and platform-specific engineering. For example, for mobile robots to pick-and-place objects in an environment to satisfy human commands, we can specify the language…
When cooperating with a human, a robot should not only care about its environment and task but also develop an understanding of the partner's reasoning. To support its human partner in complex tasks, the robot can share information that it…
Social interactions increasingly involve artificial agents, such as conversational or collaborative bots. Understanding trust and prosociality in these settings is fundamental to improve human-AI teamwork. Research in biology and social…
When a robot is asked to verbalize its plan it can do it in many ways. For example, a seemingly natural strategy is incremental, where the robot verbalizes its planned actions in plan order. However, an important aspect of this type of…
Robot sound, encompassing both consequential operational noise and intentionally designed auditory cues, plays an important role in human-robot interaction (HRI). Developing a deeper understanding of how robot sounds influence human…
Human collaborators can effectively communicate with their partners to finish a common task by inferring each other's mental states (e.g., goals, beliefs, and desires). Such mind-aware communication minimizes the discrepancy among…
This paper presents a novel concept for intuitive end-user programming of robots, inspired by natural interaction between humans. Natural language and supportive gestures are translated into robot programs using large language models (LLMs)…
Effective human-robot collaboration (HRC) requires translating high-level intent into contact-stable whole-body motion while continuously adapting to a human partner. Many vision-language-action (VLA) systems learn end-to-end mappings from…
Effective collaboration between a robot and a person requires natural communication. When a robot travels with a human companion, the robot should be able to explain its navigation behavior in natural language. This paper explains how a…
When encountering a robot in the wild, it is not inherently clear to human users what the robot's capabilities are. When encountering misunderstandings or problems in spoken interaction, robots often just apologize and move on, without…