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While classical approaches to autonomous robot navigation currently enable operation in certain environments, they break down in tightly constrained spaces, e.g., where the robot needs to engage in agile maneuvers to squeeze between…
Socially aware robot navigation, where a robot is required to optimize its trajectory to maintain comfortable and compliant spatial interactions with humans in addition to reaching its goal without collisions, is a fundamental yet…
Teaching robots novel behaviors typically requires motion demonstrations via teleoperation or kinaesthetic teaching, that is, physically guiding the robot. While recent work has explored using human sketches to specify desired behaviors,…
Effective physical human-robot interaction requires systems that are not only adaptable to user preferences but also transparent about their actions. This paper introduces BRIDGE, a system for bidirectional human-robot communication in…
Understanding action correspondence between humans and robots is essential for evaluating alignment in decision-making, particularly in human-robot collaboration and imitation learning within unstructured environments. We propose a…
Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…
One of the first and foremost non-verbal interactions that humans perform is a handshake. It has an impact on first impressions as touch can convey complex emotions. This makes handshaking an important skill for the repertoire of a social…
In this paper, we propose a novel method for underwater robot-to-human communication using the motion of the robot as "body language". To evaluate this system, we develop simulated examples of the system's body language gestures, called…
Humanoid robots are promising to acquire various skills by imitating human behaviors. However, existing algorithms are only capable of tracking smooth, low-speed human motions, even with delicate reward and curriculum design. This paper…
The anticipation of human behavior is a crucial capability for robots to interact with humans safely and efficiently. We employ a smart edge sensor network to provide global observations, future predictions, and goal information to…
This paper presents a real-time programming and parameter reconfiguration method for autonomous underwater robots in human-robot collaborative tasks. Using a set of intuitive and meaningful hand gestures, we develop a syntactically simple…
Recent literature in the robotics community has focused on learning robot behaviors that abstract out lower-level details of robot control. To fully leverage the efficacy of such behaviors, it is necessary to select and sequence them to…
In real-world human-robot systems, it is essential for a robot to comprehend human objectives and respond accordingly while performing an extended series of motor actions. Although human objective alignment has recently emerged as a…
Mobile robot navigation in dynamic human environments requires policies that balance adaptability to diverse behaviors with compliance to safety constraints. We hypothesize that integrating data-driven rewards with rule-based objectives…
Preference-aligned robot navigation in human environments is typically achieved through learning-based approaches, utilizing user feedback or demonstrations for personalization. However, personal preferences are subject to change and might…
Natural language is an effective tool for communication, as information can be expressed in different ways and at different levels of complexity. Verbal commands, utilized for instructing robot tasks, can therefor replace traditional robot…
In robotics motion is often described from an external perspective, i.e., we give information on the obstacle motion in a mathematical manner with respect to a specific (often inertial) reference frame. In the current work, we propose to…
The ability to communicate with robots using natural language is a significant step forward in human-robot interaction. However, accurately translating verbal commands into physical actions is promising, but still presents challenges.…
Tactile sensors have been introduced to a wide range of robotic tasks such as robot manipulation to mimic the sense of human touch. However, there has only been a few works that integrate tactile sensing into robot navigation. This paper…
Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…