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This paper presents an improved system based on our prior work, designed to create explanations for autonomous robot actions during Human-Robot Interaction (HRI). Previously, we developed a system that used Large Language Models (LLMs) to…
Blind people have limited opportunities to explore an environment based on their interests. While existing navigation systems could provide them with surrounding information while navigating, they have limited scalability as they require…
Large language models are increasingly being explored as interfaces between humans and robotic systems, yet there remains limited evidence on how such technologies can be used not only for interaction, but also as a structured means of…
Indoor built environments like homes and offices often present complex and cluttered layouts that pose significant challenges for individuals who are blind or visually impaired, especially when performing tasks that involve locating and…
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…
Assistive robotics is an important subarea of robotics that focuses on the well-being of people with disabilities. A robotic guide dog is an assistive quadruped robot that helps visually impaired people in obstacle avoidance and navigation.…
Delivering intelligent and adaptive navigation assistance in augmented reality (AR) requires more than visual cues, as it demands systems capable of interpreting flexible user intent and reasoning over both spatial and semantic context.…
In recent years, autonomous agents have surged in real-world environments such as our homes, offices, and public spaces. However, natural human-robot interaction remains a key challenge. In this paper, we introduce an approach that…
In this paper, we develop an embodied AI system for human-in-the-loop navigation with a wheeled mobile robot. We propose a direct yet effective method of monitoring the robot's current plan to detect changes in the environment that impact…
Enabling robots to autonomously navigate unknown, complex, and dynamic real-world environments presents several challenges, including imperfect perception, partial observability, localization uncertainty, and safety constraints. Current…
Physical agents that can autonomously generate engaging, life-like behaviour will lead to more responsive and interesting robots and other autonomous systems. Although many advances have been made for one-to-one interactions in well…
In a rapidly evolving digital landscape autonomous tools and robots are becoming commonplace. Recognizing the significance of this development, this paper explores the integration of Large Language Models (LLMs) like Generative pre-trained…
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…
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…
Recent advancements in Large Language Models (LLMs) and Vision-Language Models (VLMs) have made them powerful tools in embodied navigation, enabling agents to leverage commonsense and spatial reasoning for efficient exploration in…
As social virtual reality (VR) grows more popular, addressing accessibility for blind and low vision (BLV) users is increasingly critical. Researchers have proposed an AI "sighted guide" to help users navigate VR and answer their questions,…
Human-Robot-Interaction (HRI) research is typically built around the premise that the robot serves to assist a human in achieving a human-led goal or shared task. However, there are many circumstances during HRI in which a robot may need…
Autonomous systems will play an essential role in many applications across diverse domains including space, marine, air, field, road, and service robotics. They will assist us in our daily routines and perform dangerous, dirty and dull…
The number of robots deployed in our daily surroundings is ever-increasing. Even in the industrial set-up, the use of coworker robots is increasing rapidly. These cohabitant robots perform various tasks as instructed by co-located human…
This paper presents an innovative large language model (LLM)-based robotic system for enhancing multi-modal human-robot interaction (HRI). Traditional HRI systems relied on complex designs for intent estimation, reasoning, and behavior…