Related papers: Gaze Estimation for Human-Robot Interaction: Analy…
Interactive visual grounding in Human-Robot Interaction (HRI) is challenging yet practical due to the inevitable ambiguity in natural languages. It requires robots to disambiguate the user input by active information gathering. Previous…
Gaze is a valuable means of communication for impaired people with extremely limited motor capabilities. However, robust gaze-based intent recognition in multi-object environments is challenging due to gaze noise, micro-saccades, viewpoint…
Enabling robots to understand human gaze target is a crucial step to allow capabilities in downstream tasks, for example, attention estimation and movement anticipation in real-world human-robot interactions. Prior works have addressed the…
State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…
Collaborative robots (cobots) are widely used in industrial applications, yet extensive research is still needed to enhance human-robot collaborations and operator experience. A potential approach to improve the collaboration experience…
In this study, we investigated gaze-based interaction methods within a virtual reality game with a visual search task with 52 participants. We compared four different interaction techniques: Selection by dwell time or confirmation of…
This work aims to tackle the intent recognition problem in Human-Robot Collaborative assembly scenarios. Precisely, we consider an interactive assembly of a wooden stool where the robot fetches the pieces in the correct order and the human…
This paper describes a novel approach in human robot interaction driven by ergonomics. With a clear focus on optimising ergonomics, the approach proposed here continuously observes a human user's posture and by invoking appropriate…
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…
Human-Robot Interaction (HRI) has become increasingly important as robots are being integrated into various aspects of daily life. One key aspect of HRI is gesture recognition, which allows robots to interpret and respond to human gestures…
Human safety is critical in applications involving close human-robot interactions (HRI) and is a key aspect of physical compatibility between humans and robots. While measures of human safety in HRI exist, these mainly target industrial…
Understanding user enjoyment is crucial in human-robot interaction (HRI), as it can impact interaction quality and influence user acceptance and long-term engagement with robots, particularly in the context of conversations with social…
Effective communication between humans and collaborative robots is essential for seamless Human-Robot Collaboration (HRC). In noisy industrial settings, nonverbal communication, such as gestures, plays a key role in conveying commands and…
Despite advances in Vision-Language-Action (VLA) models, robotic manipulation struggles with fine-grained tasks because current models lack mechanisms for active visual attention allocation. Human gaze naturally encodes intent, planning,…
Appearance-based gaze estimation, aiming to predict accurate 3D gaze direction from a single facial image, has made promising progress in recent years. However, most methods suffer significant performance degradation in cross-domain…
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…
Whisker-like touch sensors offer unique advantages for short-range perception in environments where visual and long-range sensing are unreliable, such as confined, cluttered, or low-visibility settings. This paper presents a framework for…
This paper presents the first study in a series of proxemics experiments concerned with the role of personal spatial zones in human-robot interaction. In the study 40 participants approached a NAO robot positioned approximately at…
The rising number of the elderly incurs growing concern about healthcare, and in particular rehabilitation healthcare. Assistive technology and assistive robotics in particular may help to improve this process. We develop a robot coach…
For a service robot, it is crucial to perceive as early as possible that an approaching person intends to interact: in this case, it can proactively enact friendly behaviors that lead to an improved user experience. We solve this perception…