Related papers: An Approach to Combining Video and Speech with Lar…
In recent years robots have become an important part of our day-to-day lives with various applications. Human-robot interaction creates a positive impact in the field of robotics to interact and communicate with the robots. Gesture…
Integrated control of wheelchairs and wheelchair-mounted robotic arms (WMRAs) has strong potential to increase independence for users with severe motor limitations, yet existing interfaces often lack the flexibility needed for intuitive…
Understanding human intentions is key to enabling effective and efficient human-robot interaction (HRI) in collaborative settings. To enable developments and evaluation of the ability of artificial intelligence (AI) systems to infer human…
In the rapidly evolving landscape of human-robot collaboration, effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder efficiency.…
Humanoid robots must adapt their contact behavior to diverse objects and tasks, yet most controllers rely on fixed, hand-tuned impedance gains and gripper settings. This paper introduces HumanoidVLM, a vision-language driven retrieval…
Despite the recent advancements in robotics and machine learning (ML), the deployment of autonomous robots in our everyday lives is still an open challenge. This is due to multiple reasons among which are their frequent mistakes, such as…
Recent advancements in multimodal Human-Robot Interaction (HRI) datasets have highlighted the fusion of speech and gesture, expanding robots' capabilities to absorb explicit and implicit HRI insights. However, existing speech-gesture HRI…
Traditional control interfaces for robotic-assisted minimally invasive surgery impose a significant cognitive load on surgeons. To improve surgical efficiency, surgeon-robot collaboration capabilities, and reduce surgeon burden, we present…
Human videos contain rich manipulation priors, but using them for robot learning remains difficult because raw observations entangle scene understanding, human motion, and embodiment-specific action. We introduce MoT-HRA, a hierarchical…
The integration of large language models (LLMs) into conversational robots has made human-robot conversations more dynamic. Yet, LLM-powered conversational robots remain prone to errors, e.g., misunderstanding user intent, prematurely…
We design and develop a new shared Augmented Reality (AR) workspace for Human-Robot Interaction (HRI), which establishes a bi-directional communication between human agents and robots. In a prototype system, the shared AR workspace enables…
Physical human-robot interactions (pHRI) are less efficient and communicative than human-human interactions, and a key reason is a lack of informative sense of touch in robotic systems. Interpreting human touch gestures is a nuanced,…
We model Human-Robot-Interaction (HRI) scenarios as linear dynamical systems and use Model Predictive Control (MPC) with mixed integer constraints to generate human-aware control policies. We motivate the approach by presenting two…
Vision-language-action models (VLAs) have become increasingly popular in robot manipulation for their end-to-end design and remarkable performance. However, existing VLAs rely heavily on vision-language models (VLMs) that only support…
Speech recognition is a prominent technology, which helps us to develop a Natural language interface through speech for the Human-Robot Interaction (HRI). It allows the computer to take the spoken instructions, interpret it, and generate…
Human-Robot Collaboration (HRC) plays an important role in assembly tasks by enabling robots to plan and adjust their motions based on interactive, real-time human instructions. However, such instructions are often linguistically ambiguous…
Understanding and recognizing human-object interaction (HOI) is a pivotal application in AR/VR and robotics. Recent open-vocabulary HOI detection approaches depend exclusively on large language models for richer textual prompts, neglecting…
When a robot performs a task next to a human, physical interaction is inevitable: the human might push, pull, twist, or guide the robot. The state-of-the-art treats these interactions as disturbances that the robot should reject or avoid.…
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…
Human-robot interaction (HRI) encompasses a wide range of collaborative tasks, with handover being one of the most fundamental. As robots become more integrated into human environments, the potential for service robots to assist in handing…