Related papers: When the Inference Meets the Explicitness or Why M…
Assistive robots can potentially improve the quality of life and personal independence of elderly people by supporting everyday life activities. To guarantee a safe and intuitive interaction between human and robot, human intentions need to…
We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…
Robots in shared spaces often move in ways that are difficult for people to interpret, placing the burden on humans to adapt. High-DoF robots exhibit motion that people read as expressive, intentionally or not, making it important to…
Collaborative manipulation is inherently multimodal, with haptic communication playing a central role. When performed by humans, it involves back-and-forth force exchanges between the participants through which they resolve possible…
Human intention-based systems enable robots to perceive and interpret user actions to interact with humans and adapt to their behavior proactively. Therefore, intention prediction is pivotal in creating a natural interaction with social…
Effective human-robot collaboration in open-world environments requires joint planning under uncertain conditions. However, existing approaches often treat humans as passive supervisors, preventing autonomous agents from becoming human-like…
Robot understanding of human intentions is essential for fluid human-robot interaction. Intentions, however, cannot be directly observed and must be inferred from behaviors. We learn a model of adaptive human behavior conditioned on the…
Humans engaged in collaborative activities are naturally able to convey their intentions to teammates through multi-modal communication, which is made up of explicit and implicit cues. Similarly, a more natural form of human-robot…
Implicit communication plays such a crucial role during social exchanges that it must be considered for a good experience in human-robot interaction. This work addresses implicit communication associated with the detection of physical…
In collaborative human-robot manipulation, a robot must predict human intents and adapt its actions accordingly to smoothly execute tasks. However, the human's intent in turn depends on actions the robot takes, creating a chicken-or-egg…
Recognition of intentions is a subconscious cognitive process vital to human communication. This skill enables anticipation and increases the quality of interactions between humans. Within the context of engagement, non-verbal signals are…
In this paper, we present a planning framework that uses a combination of implicit (robot motion) and explicit (visual/audio/haptic feedback) communication during mobile robot navigation. First, we developed a model that approximates both…
How can multiple humans interact with multiple robots? The goal of our research is to create an effective interface that allows multiple operators to collaboratively control teams of robots in complex tasks. In this paper, we focus on a key…
Humans have an extraordinary ability to communicate and read the properties of objects by simply watching them being carried by someone else. This level of communicative skills and interpretation, available to humans, is essential for…
The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…
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…
Robots are becoming increasingly omnipresent in our daily lives, supporting us and carrying out autonomous tasks. In Human-Robot Interaction, human actors benefit from understanding the robot's motion intent to avoid task failures and…
Within this work, we explore intention inference for user actions in the context of a handheld robot setup. Handheld robots share the shape and properties of handheld tools while being able to process task information and aid manipulation.…
Mobile robots are traditionally developed to be reactive and avoid collisions with surrounding humans, often moving in unnatural ways without following social protocols, forcing people to behave very differently from human-human interaction…
As robots enter collaborative workspaces, ensuring mutual understanding between human workers and robotic systems becomes a prerequisite for trust, safety, and efficiency. In this position paper, we draw on the cooperation scenario of the…