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Many real-world tasks are intuitive for a human to perform, but difficult to encode algorithmically when utilizing a robot to perform the tasks. In these scenarios, robotic systems can benefit from expert demonstrations to learn how to…
This paper comprehensively surveys research trends in imitation learning for contact-rich robotic tasks. Contact-rich tasks, which require complex physical interactions with the environment, represent a central challenge in robotics due to…
While reinforcement learning has made great improvements, state-of-the-art algorithms can still struggle with seemingly simple set-point feedback control problems. One reason for this is that the learned controller may not be able to excite…
Purpose - Skullbase surgery demands exceptional precision when removing bone in the lateral skull base. Robotic assistance can alleviate the effect of human sensory-motor limitations. However, the stiffness and inertia of the robot can…
While tremendous advances in visual and auditory realism have been made for virtual and augmented reality (VR/AR), introducing a plausible sense of physicality into the virtual world remains challenging. Closing the gap between real-world…
Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable…
Extended Reality (XR) technologies are increasingly tested outside the lab, in homes, schools, and public spaces. While this shift enables more realistic user insights, it also introduces safety challenges that are often overlooked.…
Robot facial expressions and gaze are important factors for enhancing human-robot interaction (HRI), but their effects on human collaboration and perception are not well understood, for instance, in collaborative game scenarios. In this…
Deep learning has provided new ways of manipulating, processing and analyzing data. It sometimes may achieve results comparable to, or surpassing human expert performance, and has become a source of inspiration in the era of artificial…
Extended Reality (XR) is increasingly used as a productivity tool and recent commercial XR devices have even been specifically designed as productivity tools, or, at least, are heavily advertised for such purposes, such as the Apple Vision…
Despite the current rise and promising capabilities of Extended Reality (XR) technologies, the architecture, engineering, and construction industry lacks informed guidance when choosing between these technologies, especially for complex…
Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…
In this paper we investigate the influence interfaces and feedback have on human-robot trust levels when operating in a shared physical space. The task we use is specifying a "no-go" region for a robot in an indoor environment. We evaluate…
Everyday objects, like remote controls or electric toothbrushes, are crafted with hand-accessible interfaces. Expanding on this design principle, extended reality (XR) interfaces for physical tasks could facilitate interaction without…
Stable and robust robotic grasping is essential for current and future robot applications. In recent works, the use of large datasets and supervised learning has enhanced speed and precision in antipodal grasping. However, these methods…
Deep reinforcement learning is becoming increasingly popular for robot control algorithms, with the aim for a robot to self-learn useful feature representations from unstructured sensory input leading to the optimal actuation policy. In…
Socially aware robot navigation, where a robot is required to optimize its trajectory to maintain comfortable and compliant spatial interactions with humans in addition to reaching its goal without collisions, is a fundamental yet…
System-imposed wait times can significantly disrupt digital workflows, affecting user experience and task performance. Prior HCI research has examined how temporal feedback, such as feedback mode (Elapsed-Time vs. Remaining-Time) shapes…
The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast,…
In recent years, the demand for social robots has grown, requiring them to adapt their behaviors based on users' states. Accurately assessing user experience (UX) in human-robot interaction (HRI) is crucial for achieving this adaptability.…