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Learning robot objective functions from human input has become increasingly important, but state-of-the-art techniques assume that the human's desired objective lies within the robot's hypothesis space. When this is not true, even methods…
When faced with an execution failure, an intelligent robot should be able to identify the likely reasons for the failure and adapt its execution policy accordingly. This paper addresses the question of how to utilise knowledge about the…
The robot learning community has made great strides in recent years, proposing new architectures and showcasing impressive new capabilities; however, the dominant metric used in the literature, especially for physical experiments, is…
Recognising intent in collaborative human robot tasks can improve team performance and human perception of robots. Intent can differ from the observed outcome in the presence of mistakes which are likely in physically dynamic tasks. We…
For service mobile robots to be most effective, it must be possible for non-experts and even end-users to program them to do new tasks. Regardless of the programming method (e.g., by demonstration or traditional programming), robot task…
Robust robotic task execution hinges on the reliable detection of execution failures in order to trigger safe operation modes, recovery strategies, or task replanning. However, many failure detection methods struggle to provide meaningful…
Increasing anthropomorphic robot behavioral design could affect trust and cooperation positively. However, studies have shown contradicting results and suggest a task-dependent relationship between robots that display emotions and trust.…
Brain-controlled robots are a promising new type of assistive device for severely impaired persons. Little is however known about how to optimize the interaction of humans and brain-controlled robots. Information about the human's perceived…
Corrections offer a natural modality for people to provide feedback to a robot, by (i) intervening in the robot's behavior when they believe the robot is failing (or will fail) the task objectives and (ii) modifying the robot's behavior to…
Due to real-world dynamics and hardware uncertainty, robots inevitably fail in task executions, resulting in undesired or even dangerous executions. In order to avoid failures and improve robot performance, it is critical to identify and…
This study investigated how wait time influences trust in and reliance on a robot. Experiment 1 was conducted as an online experiment manipulating the wait time for the task partner's action from 1 to 20 seconds and the anthropomorphism of…
Robots make compulsory machine sounds, known as `consequential sounds', as they move and operate. As robots become more prevalent in workplaces, homes and public spaces, understanding how sounds produced by robots affect human-perceptions…
Trust and the perception of trustworthiness play an important role in decision-making and our behaviour towards others, and this is true not only of human-human interactions but also of human-robot interactions. While significant advances…
Mind perception in robots has been an understudied construct in human-robot interaction (HRI) compared to similar concepts such as anthropomorphism and the intentional stance. In a series of three experiments, we identify two factors that…
Prediction of failures in real-world robotic systems either requires accurate model information or extensive testing. Partial knowledge of the system model makes simulation-based failure prediction unreliable. Moreover, obtaining such…
Previous research found that robots should best be designed to fit their given task, whilst others identified gender effects in people's evaluations of robots. This study combines this knowledge to investigate stereotyping effects of robot…
As more and more social robots are being used for collaborative activities with humans, it is crucial to investigate mechanisms to facilitate trust in the human-robot interaction. One such mechanism is humour: it has been shown to increase…
As robots become increasingly prevalent in human environments, there will inevitably be times when a robot needs to interrupt a human to initiate an interaction. Our work introduces the first interruptibility-aware mobile robot system, and…
Humans and robots are increasingly working in personal and professional settings. In workplace settings, humans and robots may work together as colleagues, potentially leading to social expectations, or violation thereof. Extant research…
Mental models and expectations underlying human-human interaction (HHI) inform human-robot interaction (HRI) with domestic robots. To ease collaborative home tasks by improving domestic robot speech and behaviours for human-robot…