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Cyber-physical systems (CPSs) facilitate the integration of physical entities and cyber infrastructures through the utilization of pervasive computational resources and communication units, leading to improved efficiency, automation, and…
In human-robot teams, humans often start with an inaccurate model of the robot capabilities. As they interact with the robot, they infer the robot's capabilities and partially adapt to the robot, i.e., they might change their actions based…
Effective human-robot teaming is crucial for the practical deployment of robots in human workspaces. However, optimizing joint human-robot plans remains a challenge due to the difficulty of modeling individualized human capabilities and…
Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…
Adaptive machines have the potential to assist or interfere with human behavior in a range of contexts, from cognitive decision-making to physical device assistance. Therefore it is critical to understand how machine learning algorithms can…
Humans are experts in physical collaboration by leveraging cognitive abilities such as perception, reasoning, and decision-making to regulate compliance behaviors based on their partners' states and task requirements. Equipping robots with…
The rapid advancements in large foundation models and multi-agent systems offer unprecedented capabilities, yet current Human-in-the-Loop (HiTL) paradigms inadequately integrate human expertise, often leading to cognitive overload and…
For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…
Effective close-proximity human-robot interaction (CP-HRI) requires robots to be able to both efficiently perform tasks as well as adapt to human behavior and preferences. However, this ability is mediated by many, sometimes competing,…
Human motion prediction is non-trivial in modern industrial settings. Accurate prediction of human motion can not only improve efficiency in human robot collaboration, but also enhance human safety in close proximity to robots. Among…
Collaborative problem solving (CPS) is widely recognized as a critical 21st-century skill. Assessing CPS depends heavily on coding the communication data using a construct-relevant framework, and this process has long been a major…
Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…
Human cognitive capacities and the needs of human-centric solutions for "Industry 5.0" make humans an indispensable component in Cyber-Physical Systems (CPSs), referred to as Human-Cyber-Physical Systems (HCPSs), where AI-powered…
Human-robot teaming (HRT) systems often rely on large-scale datasets of human and robot interactions, especially for close-proximity collaboration tasks such as human-robot handovers. Learning robot manipulation policies from raw,…
Two established approaches to engineer adaptive systems are architecture-based adaptation that uses a Monitor-Analysis-Planning-Executing (MAPE) loop that reasons over architectural models (aka Knowledge) to make adaptation decisions, and…
Recent advances in the areas of human-robot interaction (HRI) and robot autonomy are changing the world. Today robots are used in a variety of applications. People and robots work together in human autonomous teams (HATs) to accomplish…
Effective human-robot collaboration requires informed anticipation. The robot must anticipate the human's actions, but also react quickly and intuitively when its predictions are wrong. The robot must plan its actions to account for the…
Unmanned Aerial Vehicles (UAVs) have recently rapidly grown to facilitate a wide range of innovative applications that can fundamentally change the way cyber-physical systems (CPSs) are designed. CPSs are a modern generation of systems with…
Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…
We present a novel framework for human-robot \emph{logical} interaction that enables robots to reliably satisfy (infinite horizon) temporal logic tasks while effectively collaborating with humans who pursue independent and unknown tasks.…