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In this work, we propose a gesture based language to allow humans to interact with robots using their body in a natural way. We have created a new gesture detection model using neural networks and a custom dataset of humans performing a set…
Recent advances in large-scale machine learning have produced high-capacity foundation models capable of adapting to a broad array of downstream tasks. While such models hold great promise for robotics, the prevailing paradigm still…
Zoomorphic robots have the potential to offer companionship and well-being as accessible, low-maintenance alternatives to pet ownership. Many such robots, however, feature limited emotional expression, restricting their potential for rich…
The use of social robots as instruments for social mediation has been gaining traction in the field of Human-Robot Interaction (HRI). So far, the design of such robots and their behaviors is often driven by technological platforms and…
Emotion expressions serve as important communicative signals and are crucial cues in intuitive interactions between humans. Hence, it is essential to include these fundamentals in robotic behavior strategies when interacting with humans to…
How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed…
Plants offer a paradoxical model for interaction: they are ambient, low-demand presences that nonetheless shape atmosphere, routines, and relationships through temporal rhythms and subtle expressions. In contrast, most human-robot…
Robot animation is a new form of character animation that extends the traditional process by allowing the animated motion to become more interactive and adaptable during interaction with users in real-world settings. This paper reviews how…
Learning contact-rich, robotic manipulation skills is a challenging problem due to the high-dimensionality of the state and action space as well as uncertainty from noisy sensors and inaccurate motor control. To combat these factors and…
We present Perceive-Represent-Generate (PRG), a novel three-stage framework that maps perceptual information of different modalities (e.g., visual or sound), corresponding to a sequence of instructions, to an adequate sequence of movements…
Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two modalities, such as vision and touch. In this work, we…
Human demonstrations are important in a range of robotics applications, and are created with a variety of input methods. However, the design space for these input methods has not been extensively studied. In this paper, focusing on…
People with lower and upper body disabilities can benefit from wheelchairs and robotic arms to improve mobility and independence. Prior assistive interfaces, such as touchscreens and voice-driven predefined commands, often remain…
Effective robotic systems for long-horizon human-robot collaboration must adapt to a wide range of human partners, whose physical behavior, willingness to assist, and understanding of the robot's capabilities may change over time. This…
Understanding how people interact with their surroundings and each other is essential for enabling robots to act in socially compliant and context-aware ways. While 3D Scene Graphs have emerged as a powerful semantic representation for…
The new industrial settings are characterized by the presence of human and robots that work in close proximity, cooperating in performing the required job. Such a collaboration, however, requires to pay attention to many aspects. Firstly,…
In this paper, we introduce a novel conceptual model for a robot's behavioral adaptation in its long-term interaction with humans, integrating dynamic robot role adaptation with principles of flow experience from psychology. This…
We introduce PuppetAI, a modular soft robot interaction platform. This platform offers a scalable cable-driven actuation system and a customizable, puppet-inspired robot gesture framework, supporting a multitude of interaction gesture robot…
Human-robot collaboration is an essential research topic in artificial intelligence (AI), enabling researchers to devise cognitive AI systems and affords an intuitive means for users to interact with the robot. Of note, communication plays…
To ensure that a robot is able to accomplish an extensive range of tasks, it is necessary to achieve a flexible combination of multiple behaviors. This is because the design of task motions suited to each situation would become increasingly…