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Trust in autonomy is essential for effective human-robot collaboration and user adoption of autonomous systems such as robot assistants. This paper introduces a computational model which integrates trust into robot decision-making.…
Our goal is to model and experimentally assess trust evolution to predict future beliefs and behaviors of human-robot teams in dynamic environments. Research suggests that maintaining trust among team members in a human-robot team is vital…
For a robot to be called socially intelligent, it must be able to infer users internal states from their current behaviour, predict the users future behaviour, and if required, respond appropriately. In this work, we investigate how robots…
When mobile robots maneuver near people, they run the risk of rudely blocking their paths; but not all people behave the same around robots. People that have not noticed the robot are the most difficult to predict. This paper investigates…
Recent years have seen human robot collaboration (HRC) quickly emerged as a hot research area at the intersection of control, robotics, and psychology. While most of the existing work in HRC focused on either low-level human-aware motion…
In human-robot collaboration, the objectives of the human are often unknown to the robot. Moreover, even assuming a known objective, the human behavior is also uncertain. In order to plan a robust robot behavior, a key preliminary question…
Developing foundational world models is a key research direction for embodied intelligence, with the ability to adapt to non-stationary environments being a crucial criterion. In this work, we introduce a new formalism, Hidden…
A limitation for collaborative robots (cobots) is their lack of ability to adapt to human partners, who typically exhibit an immense diversity of behaviors. We present an autonomous framework as a cobot's real-time decision-making mechanism…
As general purpose robots become more capable, pre-programming of all tasks at the factory will become less practical. We would like for non-technical human owners to be able to communicate, through interaction with their robot, the details…
Complex behaviors are often driven by an internal model, which integrates sensory information over time and facilitates long-term planning. Inferring an agent's internal model is a crucial ingredient in social interactions (theory of mind),…
The interactive partially observable Markov decision process (I-POMDP) is a recently developed framework which extends the POMDP to the multi-agent setting by including agent models in the state space. This paper argues for formulating the…
We propose leveraging prosocial observations to cultivate new social norms to encourage prosocial behaviors toward delivery robots. With an online experiment, we quantitatively assess updates in norm beliefs regarding human-robot prosocial…
Social dilemmas have been widely studied to explain how humans are able to cooperate in society. Considerable effort has been invested in designing artificial agents for social dilemmas that incorporate explicit agent motivations that are…
In shared autonomy, a user and autonomous system work together to achieve shared goals. To collaborate effectively, the autonomous system must know the user's goal. As such, most prior works follow a predict-then-act model, first predicting…
We present a long-term intrinsically motivated structure learning method for modeling transition dynamics during controlled interactions between a robot and semi-permanent structures in the world. In particular, we discuss how…
When robots interact with human partners, often these partners change their behavior in response to the robot. On the one hand this is challenging because the robot must learn to coordinate with a dynamic partner. But on the other hand --…
For a natural social human-robot interaction, it is essential for a robot to learn the human-like social skills. However, learning such skills is notoriously hard due to the limited availability of direct instructions from people to teach a…
Mutual adaptation is a central challenge in human--AI teaming, as humans naturally adjust their strategies in response to a robot's policy. Existing approaches aim to improve diversity in training partners to approximate human behavior, but…
Effective human-robot collaboration requires informed anticipation. The robot must anticipate the human's actions, but also react quickly and intuitively when its predictions are wrong. The robot must plan its actions to account for the…
We focus on the problem of how we can enable a robot to collaborate seamlessly with a human partner, specifically in scenarios where preexisting data is sparse. Much prior work in human-robot collaboration uses observational models of…