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This paper describes the initial steps towards the design of a robotic system that intends to perform actions autonomously in a naturalistic play environment. At the same time it aims for social human-robot interaction~(HRI), focusing on…
Tactile interaction plays an essential role in human-to-human interaction. People gain comfort and support from tactile interactions with others and touch is an important predictor for trust. While touch has been explored as a communicative…
We present an ongoing project that aims to develop a social robot to help children cope with painful and distressing medical procedures in a clinical setting. Our approach uses automated planning as a core component for action selection in…
Animals perceive the world to plan their actions and interact with other agents to accomplish complex tasks, demonstrating capabilities that are still unmatched by AI systems. To advance our understanding and reduce the gap between the…
Since the late 1990s when speech companies began providing their customer-service software in the market, people have gotten used to speaking to machines. As people interact more often with voice and gesture controlled machines, they expect…
Collaborative robots are increasingly deployed alongside humans in factories, hospitals, schools, and other domains to enhance teamwork and efficiency. Systems that seamlessly integrate humans and robots into cohesive teams for coordinated…
Robots are becoming increasingly integrated into our lives, assisting us in various tasks. To ensure effective collaboration between humans and robots, it is essential that they understand our intentions and anticipate our actions. In this…
This paper presents our first attempt to integrate user modeling features in social and affective robots. We propose a cloud-based architecture for modeling the user-robot interaction in order to re-use the approach with different kind of…
Human emotions are complex and can be conveyed through nuanced touch gestures. Previous research has primarily focused on how humans recognize emotions through touch or on identifying key features of emotional expression for robots.…
Imitation learning from a large set of human demonstrations has proved to be an effective paradigm for building capable robot agents. However, the demonstrations can be extremely costly and time-consuming to collect. We introduce MimicGen,…
Nonverbal visual symbols and displays play an important role in communication when humans and robots work collaboratively. However, few studies have investigated how different types of non-verbal cues affect objective task performance,…
Introduction: Socially assistive robots hold promise for enhancing therapeutic engagement in paediatric clinical settings. However, their successful implementation requires not only technical robustness but also context-sensitive,…
As social robots become increasingly prevalent in day-to-day environments, they will participate in conversations and appropriately manage the information shared with them. However, little is known about how robots might appropriately…
The ability to leverage heterogeneous robotic experience from different robots and tasks to quickly master novel skills and embodiments has the potential to transform robot learning. Inspired by recent advances in foundation models for…
In recent years, the demand for social robots has grown, requiring them to adapt their behaviors based on users' states. Accurately assessing user experience (UX) in human-robot interaction (HRI) is crucial for achieving this adaptability.…
Users develop mental models of robots to conceptualize what kind of interactions they can have with those robots. The conceptualizations are often formed before interactions with the robot and are based only on observing the robot's…
We propose a toolkit for creating Tangible Out-of-Body Experiences: exposing the inner states of users using physiological signals such as heart rate or brain activity. Tobe can take the form of a tangible avatar displaying live…
Receiving a hug is one of the best ways to feel socially supported, and the lack of social touch can have severe negative effects on an individual's well-being. Based on previous research both within and outside of HRI, we propose six…
Emotions are the intrinsic or extrinsic representations of our experiences. The importance of emotions during a human-human interaction is immense as it formulates the basis of our interaction framework. There are several approaches in…
Shared dynamics models are important for capturing the complexity and variability inherent in Human-Robot Interaction (HRI). Therefore, learning such shared dynamics models can enhance coordination and adaptability to enable successful…