Related papers: Bidirectional Human-Robot Communication for Physic…
As human-robot collaboration advances, natural and flexible communication methods are essential for effective robot control. Traditional methods relying on a single modality or rigid rules struggle with noisy or misaligned data as well as…
With an increasing need for elderly and disability care, there is an increasing opportunity for intelligent and mobile devices such as robots to provide care and support solutions. In order to naturally assist and interact with humans, a…
This paper identifies stylistic differences in instruction-giving observed in a corpus of human-robot dialogue. Differences in verbosity and structure (i.e., single-intent vs. multi-intent instructions) arose naturally without restrictions…
Physical human-robot collaboration requires strict safety guarantees since robots and humans work in a shared workspace. This letter presents a novel control framework to handle safety-critical position-based constraints for human-robot…
Collaboration between human and robot requires effective modes of communication to assign robot tasks and coordinate activities. As communication can utilize different modalities, a multi-modal approach can be more expressive than single…
Gesture interaction is a natural way of communicating with a robot as an alternative to speech. Gesture recognition methods leverage optical flow in order to understand human motion. However, while accurate optical flow estimation (i.e.,…
Communication between people is characterized by a broad range of nonverbal cues. Transferring these cues into the design of robots and other artificial agents that interact with people may foster more natural, inviting, and accessible…
Human robot interaction is an exciting task, which aimed to guide robots following instructions from human. Since huge gap lies between human natural language and machine codes, end to end human robot interaction models is fair challenging.…
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…
Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…
This paper presents a novel human-robot interaction setup for robot and human learning of symbolic language for identifying robot homeostatic needs. The robot and human learn to use and respond to the same language symbols that convey…
Natural language understanding for robotics can require substantial domain- and platform-specific engineering. For example, for mobile robots to pick-and-place objects in an environment to satisfy human commands, we can specify the language…
In this paper, we describe the development of symbolic representations annotated on human-robot dialogue data to make dimensions of meaning accessible to autonomous systems participating in collaborative, natural language dialogue, and to…
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…
Humans possess the innate ability to extract latent visuo-lingual cues to infer context through human interaction. During collaboration, this enables proactive prediction of the underlying intention of a series of tasks. In contrast,…
One of the long-term challenges of robotics is to enable robots to interact with humans in the visual world via natural language, as humans are visual animals that communicate through language. Overcoming this challenge requires the ability…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
During human-robot interaction (HRI), we want the robot to understand us, and we want to intuitively understand the robot. In order to communicate with and understand the robot, we can leverage interactions, where the human and robot…
Realizing interactive whole-body control for multi-humanoid systems is critical for unlocking complex collaborative capabilities in shared environments. Although recent advancements have significantly enhanced the agility of individual…