Related papers: Designing Social Robots with Ethical, User-Adaptiv…
The rapid emergence of foundation models, particularly Large Language Models (LLMs) and Vision-Language Models (VLMs), has introduced a transformative paradigm in robotics. These models offer powerful capabilities in semantic understanding,…
Foundation models are a promising path toward general-purpose and user-friendly robots. The prevalent approach involves training a generalist policy that, like a reinforcement learning policy, uses observations to output actions. Although…
The proliferation of Large Language Models (LLMs) has s fueled a shift in robot learning from automation towards general embodied Artificial Intelligence (AI). Adopting foundation models together with traditional learning methods to robot…
The demand for social robots in fields like healthcare, education, and entertainment increases due to their emotional adaptation features. These robots leverage multimodal communication, incorporating speech, facial expressions, and…
The integration of Large Language Models (LLMs) in social robotics presents a unique set of ethical challenges and social impacts. This research is set out to identify ethical considerations that arise in the design and development of these…
Rapid advancements in foundation models, including Large Language Models, Vision-Language Models, Multimodal Large Language Models, and Vision-Language-Action Models, have opened new avenues for embodied AI in mobile service robotics. By…
To bring robots into human everyday life, their capacity for social interaction must increase. One way for robots to acquire social skills is by assigning them the concept of identity. This research focuses on the concept of…
Research in social robotics is commonly focused on designing robots that imitate human behavior. While this might increase a user's satisfaction and acceptance of robots at first glance, it does not automatically aid a non-expert user in…
Recent advances in large-scale machine learning have produced high-capacity foundation models capable of adapting to a broad array of downstream tasks. While such models hold great promise for robotics, the prevailing paradigm still…
Building general-purpose robots that operate seamlessly in any environment, with any object, and utilizing various skills to complete diverse tasks has been a long-standing goal in Artificial Intelligence. However, as a community, we have…
Service and assistive robots are increasingly being deployed in dynamic social environments; however, ensuring transparent and explainable interactions remains a significant challenge. This paper presents a multimodal explainability module…
Explanations constitute an important aspect of successful human robot interactions and can enhance robot understanding. To improve the understanding of the robot, we have developed four levels of explanation (LOE) based on two questions:…
We survey applications of pretrained foundation models in robotics. Traditional deep learning models in robotics are trained on small datasets tailored for specific tasks, which limits their adaptability across diverse applications. In…
Personalisation is essential to achieve more acceptable and effective results in human-robot interaction. Placing users in the central role, many studies have focused on enhancing the abilities of social robots to perceive and understand…
The realization of universal robots is an ultimate goal of researchers. However, a key hurdle in achieving this goal lies in the robots' ability to manipulate objects in their unstructured surrounding environments according to different…
Building effective human-robot interaction requires robots to derive conclusions from their experiences that are both logically sound and communicated in ways aligned with human expectations. This paper presents a hybrid framework that…
We find ourselves surrounded by a rapidly increasing number of autonomous and semi-autonomous systems. Two grand challenges arise from this development: Machine Ethics and Machine Explainability. Machine Ethics, on the one hand, is…
Designing robots capable of generating interpretable behavior is a prerequisite for achieving effective human-robot collaboration. This means that the robots need to be capable of generating behavior that aligns with human expectations and,…
The continued development of robots has enabled their wider usage in human surroundings. Robots are more trusted to make increasingly important decisions with potentially critical outcomes. Therefore, it is essential to consider the ethical…
This paper presents a novel framework for accessible and pedagogically-grounded robot explainability, designed to support human-robot interaction (HRI) with users who have diverse cognitive, communicative, or learning needs. We combine…