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Current approaches in human-aware or social robot navigation address the humans that are visible to the robot. However, it is also important to address the possible emergences of humans to avoid shocks or surprises to humans and erratic…
This work proposes a novel approach to social robot navigation by learning to generate robot controls from a social motion latent space. By leveraging this social motion latent space, the proposed method achieves significant improvements in…
Unmanned aerial vehicles (UAVs) are often used for navigating dangerous terrains, however they are difficult to pilot. Due to complex input-output mapping schemes, limited perception, the complex system dynamics and the need to maintain a…
There has been a growing interest in extending the capabilities of autonomous underwater vehicles (AUVs) in subsea missions, particularly in integrating underwater human-robot interaction (UHRI) for control. UHRI and its subfield,underwater…
Understanding the intentions of human teammates is critical for safe and effective human-robot interaction. The canonical approach for human-aware robot motion planning is to first predict the human's goal or path, and then construct a…
Collaborative space robots are an emerging technology with high impact as robots facilitate servicing functions in collaboration with astronauts with higher precision during lengthy tasks, under tight operational schedules, with less risk…
Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…
When humans control drones, cars, and robots, we often have some preconceived notion of how our inputs should make the system behave. Existing approaches to teleoperation typically assume a one-size-fits-all approach, where the designers…
Trustworthiness is a crucial concept in the context of human-robot interaction. Cooperative robots must be transparent regarding their decision-making process, especially when operating in a human-oriented environment. This paper presents a…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…
Robots operating alongside humans often encounter unfamiliar environments that make autonomous task completion challenging. Though improving models and increasing dataset size can enhance a robot's performance in unseen environments, data…
Haptic feedback is an important component of creating an immersive mixed reality experience. Traditionally, haptic forces are rendered in response to the user's interactions with the virtual environment. In this work, we explore the idea of…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…
Service and assistive robots are increasingly being deployed in dynamic social environments; however, ensuring transparent and explainable interactions remains a significant challenge. This paper presents a multimodal explainability module…
Our research explores the potential of a humanoid robot for work in unpredictable environments, but controlling a humanoid robot remains a very difficult problem. In our previous work, we designed a prototype virtual reality (VR) interface…
Effective human-robot collaboration in open-world environments requires joint planning under uncertain conditions. However, existing approaches often treat humans as passive supervisors, preventing autonomous agents from becoming human-like…
The operation of telerobotic systems can be a challenging task, requiring intuitive and efficient interfaces to enable inexperienced users to attain a high level of proficiency. Body-Machine Interfaces (BoMI) represent a promising…
This paper explores the challenges faced by assistive robots in effectively cooperating with humans, requiring them to anticipate human behavior, predict their actions' impact, and generate understandable robot actions. The study focuses on…
Over the past decade, a multitude of service robots have been developed to fulfill a wide range of practical purposes. Notably, roles such as reception and robotic guidance have garnered extensive popularity. In these positions, robots are…