Related papers: Bridging the Awareness Gap: Socially Mediated Stat…
Automatic speech recognition models require large amounts of speech recordings for training. However, the collection of such data often is cumbersome and leads to privacy concerns. Federated learning has been widely used as an effective…
This paper addresses the problem of decentralized, collaborative state estimation in robotic teams. In particular, this paper considers problems where individual robots estimate similar physical quantities, such as each other's position…
Demographic growth and rise in the average age of the population is increasing the demand for the elderly assistance. Health care oriented ambient intelligence technologies are fundamental to support elderly peoples' autonomy. In this…
Semi-supervised learning improves the performance of supervised machine learning by leveraging methods from unsupervised learning to extract information not explicitly available in the labels. Through the design of a system that enables a…
This paper addresses the Motion Execution Gap, the disconnect between high-level symbolic task descriptions using semantic constraints and executable robot motions. Motion Statecharts are introduced as an executable symbolic representation…
Social robots have been used to assist with mental well-being in various ways such as to help children with autism improve on their social skills and executive functioning such as joint attention and bodily awareness. They are also used to…
When humans control robot arms these robots often need to infer the human's desired task. Prior research on assistive teleoperation and shared autonomy explores how robots can determine the desired task based on the human's joystick inputs.…
In shared autonomy, user input and robot autonomy are combined to control a robot to achieve a goal. Often, the robot does not know a priori which goal the user wants to achieve, and must both predict the user's intended goal, and assist in…
Tactile sensing is a widely-studied means of implicit communication between robot and human. In this paper, we investigate how tactile sensing can help bridge differences between robotic embodiments in the context of collaborative…
Grasp-based manipulation tasks are fundamental to robots interacting with their environments, yet gripper state ambiguity significantly reduces the robustness of imitation learning policies for these tasks. Data-driven solutions face the…
Effective coordination of agents actions in partially-observable domains is a major challenge of multi-agent systems research. To address this, many researchers have developed techniques that allow the agents to make decisions based on…
In recent years, an increased effort has been invested to improve the capabilities of robots. Nevertheless, human-robot interaction remains a complex field of application where errors occur frequently. The reasons for these errors can…
Humans are highly skilled in communicating their intent for when and where a handover would occur. However, even the state-of-the-art robotic implementations for handovers typically lack of such communication skills. This study investigates…
In order for autonomous robots to be able to support people's well-being in homes and everyday environments, new interactive capabilities will be required, as exemplified by the soft design used for Disney's recent robot character Baymax in…
Interruptions, a fundamental component of human communication, can enhance the dynamism and effectiveness of conversations, but only when effectively managed by all parties involved. Despite advancements in robotic systems, state-of-the-art…
The increasing presence of robots alongside humans, such as in human-robot teams in manufacturing, gives rise to research questions about the kind of behaviors people prefer in their robot counterparts. We term actions that support…
This article investigates mixed reality (MR) to enhance human-robot collaboration (HRC). The proposed solution adopts MR as a communication layer to convey a mobile manipulator's intentions and upcoming actions to the humans with whom it…
Social robots hold promise for reducing job interview anxiety, yet designing agents that provide both psychological safety and instructional guidance remains challenging. Through a three-phase iterative design study (N = 8), we empirically…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
Despite recent advances in robotics and human-robot collaboration in the AEC industry, trust has mostly been treated as a static factor, with little guidance on how it changes across events during collaboration. This paper investigates how…