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Social robots aim to establish long-term bonds with humans through engaging conversation. However, traditional conversational approaches, reliant on scripted interactions, often fall short in maintaining engaging conversations. This paper…
Detecting human actions is a crucial task for autonomous robots and vehicles, often requiring the integration of various data modalities for improved accuracy. In this study, we introduce a novel approach to Human Action Recognition (HAR)…
In this paper, we extended the method proposed in [21] to enable humans to interact naturally with autonomous agents through vocal and textual conversations. Our extended method exploits the inherent capabilities of pre-trained large…
Expressive behaviors in robots are critical for effectively conveying their emotional states during interactions with humans. In this work, we present a framework that autonomously generates realistic and diverse robotic emotional…
The EMPATHIC project aimed to design an emotionally expressive virtual coach capable of engaging healthy seniors to improve well-being and promote independent aging. One of the core aspects of the system is its human sensing capabilities,…
Intelligent robots are redefining a multitude of critical domains but are still far from being fully capable of assisting human peers in day-to-day tasks. An important requirement of collaboration is for each teammate to maintain and…
Adept manipulation of articulated objects is essential for robots to operate successfully in human environments. Such manipulation requires both effectiveness--reliable operation despite uncertain object structures--and efficiency--swift…
Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…
Emotion Representation Mapping (ERM) has the goal to convert existing emotion ratings from one representation format into another one, e.g., mapping Valence-Arousal-Dominance annotations for words or sentences into Ekman's Basic Emotions…
In this work, we present Conditional Adversarial Latent Models (CALM), an approach for generating diverse and directable behaviors for user-controlled interactive virtual characters. Using imitation learning, CALM learns a representation of…
Emotion recognition is a topic of significant interest in assistive robotics due to the need to equip robots with the ability to comprehend human behavior, facilitating their effective interaction in our society. Consequently, efficient and…
Affective touch offers positive psychological and physiological benefits such as the mitigation of stress and pain. If a robot could realize human-like affective touch, it would open up new application areas, including supporting care work.…
In this paper we present a neurosymbolic architecture for coupling language-guided visual reasoning with robot manipulation. A non-expert human user can prompt the robot using unconstrained natural language, providing a referring expression…
Language is an effective medium for bi-directional communication in human-robot teams. To infer the meaning of many instructions, robots need to construct a model of their surroundings that describe the spatial, semantic, and metric…
In recent years, there has been growing interest in developing robots and autonomous systems that can interact with human in a more natural and intuitive way. One of the key challenges in achieving this goal is to enable these systems to…
Human-robot interaction requires robots to process language incrementally, adapting their actions in real-time based on evolving speech input. Existing approaches to language-guided robot motion planning typically assume fully specified…
Effectively recognising and applying emotions to interactions is a highly desirable trait for social robots. Implicitly understanding how subjects experience different kinds of actions and objects in the world is crucial for natural HRI…
Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…
Robots can rapidly acquire new skills from demonstrations. However, during generalisation of skills or transitioning across fundamentally different skills, it is unclear whether the robot has the necessary knowledge to perform the task.…
Humans are skilled in reading the interlocutor's emotion from multimodal signals, including spoken words, simultaneous speech, and facial expressions. It is still a challenge to effectively decode emotions from the complex interactions of…