Related papers: Auditory Localization and Assessment of Consequent…
Human emotions are complex and can be conveyed through nuanced touch gestures. Previous research has primarily focused on how humans recognize emotions through touch or on identifying key features of emotional expression for robots.…
We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…
Whisker-like touch sensors offer unique advantages for short-range perception in environments where visual and long-range sensing are unreliable, such as confined, cluttered, or low-visibility settings. This paper presents a framework for…
The task of Visual Sound Source Localization (VSSL) involves identifying the location of sound sources in visual scenes, integrating audio-visual data for enhanced scene understanding. Despite advancements in state-of-the-art (SOTA) models,…
In order to address the limitations of gestural capabilities in physical robots, researchers in Virtual, Augmented, Mixed Reality Human-Robot Interaction (VAM-HRI) have been using augmented-reality visualizations that increase robot…
This work introduces a robotic dummy head that fuses the acoustic realism of conventional audiological mannequins with the mobility of robots. The proposed device is capable of moving, talking, and listening as people do, and can be used to…
Knowing the geometry of a space is desirable for many applications, e.g. sound source localization, sound field reproduction or auralization. In circumstances where only acoustic signals can be obtained, estimating the geometry of a room is…
Humanoid robots require simultaneous sound event type and direction estimation for situational awareness, but conventional two-channel input struggles with elevation estimation and front-back confusion. This paper proposes a binaural sound…
Collaborative robots must effectively communicate their internal state to humans to enable a smooth interaction. Nonverbal communication is widely used to communicate information during human-robot interaction, however, such methods may…
From a machine learning perspective, the human ability localize sounds can be modeled as a non-parametric and non-linear regression problem between binaural spectral features of sound received at the ears (input) and their sound-source…
HRI research using autonomous robots in real-world settings can produce results with the highest ecological validity of any study modality, but many difficulties limit such studies' feasibility and effectiveness. We propose Vid2Real HRI, a…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is difficult to perceive certain object internal states, and the…
Speech emotion recognition (SER) is an important aspect of effective human-robot collaboration and received a lot of attention from the research community. For example, many neural network-based architectures were proposed recently and…
As robots enter human workspaces, there is a crucial need for them to comprehend embodied human instructions, enabling intuitive and fluent human-robot interaction (HRI). However, accurate comprehension is challenging due to a lack of…
Physical human-robot interactions (pHRI) are less efficient and communicative than human-human interactions, and a key reason is a lack of informative sense of touch in robotic systems. Interpreting human touch gestures is a nuanced,…
Topological localization is a fundamental problem in mobile robotics, since robots must be able to determine their position in order to accomplish tasks. Visual localization and place recognition are challenging due to perceptual ambiguity,…
Despite the recent advancements in robotics and machine learning (ML), the deployment of autonomous robots in our everyday lives is still an open challenge. This is due to multiple reasons among which are their frequent mistakes, such as…
Interpreting human intent accurately is a central challenge in human-robot interaction (HRI) and a key requirement for achieving more natural and intuitive collaboration between humans and machines. This work presents a novel multimodal HRI…
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…