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Modeling interaction dynamics to generate robot trajectories that enable a robot to adapt and react to a human's actions and intentions is critical for efficient and effective collaborative Human-Robot Interactions (HRI). Learning from…
Socially competent robots should be equipped with the ability to perceive the world that surrounds them and communicate about it in a human-like manner. Representative skills that exhibit such ability include generating image descriptions…
Equipping robotic faces with singing capabilities is crucial for empathetic Human-Robot Interaction. However, existing robotic face driving research primarily focuses on conversations or mimicking static expressions, struggling to meet the…
Collaborative robots became a popular tool for increasing productivity in partly automated manufacturing plants. Intuitive robot teaching methods are required to quickly and flexibly adapt the robot programs to new tasks. Gestures have an…
This work investigates the integration of generative visual aids in human-robot task communication. We developed GenComUI, a system powered by large language models that dynamically generates contextual visual aids (such as map annotations,…
The increasing labor shortage and aging population underline the need for assistive robots to support human care recipients. To enable safe and responsive assistance, robots require accurate human motion prediction in physical interaction…
Speech-driven 3D facial animation aims to generate realistic facial movements synchronized with audio. Traditional methods primarily minimize reconstruction loss by aligning each frame with ground-truth. However, this frame-wise approach…
Dexterous manipulation is essential for real-world robot autonomy, mirroring the central role of human hand coordination in daily activity. Humans rely on rich multimodal perception--vision, sound, and language-guided intent--to perform…
This technical paper introduces a chatting robot system that utilizes recent advancements in large-scale language models (LLMs) such as GPT-3 and ChatGPT. The system is integrated with a co-speech gesture generation system, which selects…
The advent of increasingly powerful language models has raised expectations for language-based interactions. However, controlling these models is a challenge, emphasizing the need to be able to investigate the feasibility and value of their…
Virtual and robotic agents capable of perceiving human empathy have the potential to participate in engaging and meaningful human-machine interactions that support human well-being. Prior research in computational empathy has focused on…
Emotion expression is central to human--robot interaction, yet little is known about how people interpret affect on robots with sparse, non-anthropomorphic expressive capabilities. This study examined how people perceive emotional…
Large Language Models (LLMs) have gained popularity in task planning for long-horizon manipulation tasks. To enhance the validity of LLM-generated plans, visual demonstrations and online videos have been widely employed to guide the…
Large language models (LLMs) are increasingly used in robotics, especially for high-level action planning. Meanwhile, many robotics applications involve human supervisors or collaborators. Hence, it is crucial for LLMs to generate socially…
Non-verbal communication plays a particularly important role in a wide range of scenarios in Human-Robot Interaction (HRI). Accordingly, this work addresses the problem of human gesture recognition. In particular, we focus on head and eye…
This paper introduces IRIS, an Immersive Robot Interaction System leveraging Extended Reality (XR). Existing XR-based systems enable efficient data collection but are often challenging to reproduce and reuse due to their specificity to…
Zoomorphic robots have the potential to offer companionship and well-being as accessible, low-maintenance alternatives to pet ownership. Many such robots, however, feature limited emotional expression, restricting their potential for rich…
Language-conditioned robot manipulation is an emerging field aimed at enabling seamless communication and cooperation between humans and robotic agents by teaching robots to comprehend and execute instructions conveyed in natural language.…
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…
One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to have an environment map together with its language…