Related papers: Bidirectional Human-Robot Communication for Physic…
Natural-language dialog is key for intuitive human-robot interaction. It can be used not only to express humans' intents, but also to communicate instructions for improvement if a robot does not understand a command correctly. Of great…
Owing to the recent success of Large Language Models, Modern A.I has been much focused on linguistic interactions with humans but less focused on non-linguistic forms of communication between man and machine. In the present paper, we test…
Robots can use auditory, visual, or haptic interfaces to convey information to human users. The way these interfaces select signals is typically pre-defined by the designer: for instance, a haptic wristband might vibrate when the robot is…
Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…
When humans work together to complete a joint task, each person builds an internal model of the situation and how it will evolve. Efficient collaboration is dependent on how these individual models overlap to form a shared mental model…
Human collaborators coordinate effectively their actions through both verbal and non-verbal communication. We believe that the the same should hold for human-robot teams. We propose a formalism that enables a robot to decide optimally…
In the rapidly evolving landscape of Human-Robot Collaboration (HRC), effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder…
Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues.…
Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…
This paper describes the development of a real-time Human-Robot Interaction (HRI) system for a service robot based on 3D human activity recognition and human-like decision mechanism. The Human-Robot Interactive (HRI) system, which allows…
Operating robots in open-ended scenarios with diverse tasks is a crucial research and application direction in robotics. While recent progress in natural language processing and large multimodal models has enhanced robots' ability to…
Robots have become ubiquitous tools in various industries and households, highlighting the importance of human-robot interaction (HRI). This has increased the need for easy and accessible communication between humans and robots. Recent…
Brain-Machine Interaction (BMI) system motivates interesting and promising results in forward/feedback control consistent with human intention. It holds great promise for advancements in patient care and applications to neurorehabilitation.…
Guiding robots can not only detect close-range obstacles like other guiding tools, but also extend its range to perceive the environment when making decisions. However, most existing works over-simplified the interaction between human…
Developing robots that can assist humans efficiently, safely, and adaptively is crucial for real-world applications such as healthcare. While previous work often assumes a centralized system for co-optimizing human-robot interactions, we…
Clear communication of robot intent fosters transparency and interpretability in physical human-robot interaction (pHRI), particularly during assistive tasks involving direct human-robot contact. We introduce CoRI, a pipeline that…
In human-robot interaction (HRI), the beginning of an interaction is often complex. Whether the robot should communicate with the human is dependent on several situational factors (e.g., the current human's activity, urgency of the…
Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…
Physically assistive robots present an opportunity to significantly increase the well-being and independence of individuals with motor impairments or other forms of disability who are unable to complete activities of daily living (ADLs).…
This paper presents a novel system that enables intelligent robots to exhibit realistic body gestures while communicating with humans. The proposed system consists of a listening model and a speaking model used in corresponding…