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When humans interact with robots influence is inevitable. Consider an autonomous car driving near a human: the speed and steering of the autonomous car will affect how the human drives. Prior works have developed frameworks that enable…
Human emotion detection in automated vehicles helps to improve comfort and safety. Research in the automotive domain focuses a lot on sensing drivers' drowsiness and aggression. We present a new form of implicit driver-vehicle cooperation,…
Virtual borders are employed to allow humans the interactive and flexible restriction of their mobile robots' workspaces in human-centered environments, e.g. to exclude privacy zones from the workspace or to indicate certain areas for…
The current spread of social and assistive robotics applications is increasingly highlighting the need for robots that can be easily taught and interacted with, even by users with no technical background. Still, it is often difficult to…
Assistive agents should make humans' lives easier. Classically, such assistance is studied through the lens of inverse reinforcement learning, where an assistive agent (e.g., a chatbot, a robot) infers a human's intention and then selects…
As robots increasingly become part of shared human spaces, their movements must transcend basic functionality by incorporating expressive qualities to enhance engagement and communication. This paper introduces a movement-centered design…
Cyber human interaction is a broad term encompassing the range of interactions that humans can have with technology. While human interaction with fixed and mobile computers is well understood, the world is on the cusp of ubiquitous and…
Contemporary robots are increasingly mimicking human social behaviours to facilitate interaction, such as smiling to signal approachability, or hesitating before taking an action to allow people time to react. Such techniques can activate a…
The theoretical ability of modular robots to reconfigure in response to complex tasks in a priori unknown environments has frequently been cited as an advantage and remains a major motivator for work in the field. We present a modular robot…
In this paper, we investigate how to design an effective interface for remote multi-human multi-robot interaction. While significant research exists on interfaces for individual human operators, little research exists for the multi-human…
Individuals with tetraplegia and similar forms of paralysis suffer physically and emotionally due to a lack of autonomy. To help regain part of this autonomy, assistive robotic arms have been shown to increase living independence. However,…
Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…
Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…
Robot interaction control is often limited to low dynamics or low flexibility, depending on whether an active or passive approach is chosen. In this work, we introduce a hybrid control scheme that combines the advantages of active and…
Mental models play an important role in whether user interaction with intelligent systems, such as dialog systems is successful or not. Adaptive dialog systems present the opportunity to align a dialog agent's behavior with heterogeneous…
Shared autonomy (SA) enables robots to infer human intent and assist in its achievement. While most research focuses on improving intent inference, it overlooks whether humans can understand the robot's intent in return. Without such mutual…
Collective robotic systems are biologically inspired and advantageous due to their apparent global intelligence and emergent behaviors. Many applications can benefit from the incorporation of collectives, including environmental monitoring,…
As robot technology advances, collaboration between humans and robots will become more prevalent in industrial tasks. When humans run into issues in such scenarios, a likely future involves relying on artificial agents or robots for aid.…
Training visual control policies from scratch on a new robot typically requires generating large amounts of robot-specific data. How might we leverage data previously collected on another robot to reduce or even completely remove this need…
Socially assistive robots are increasingly being used to support the social, cognitive, and physical well-being of those who provide care (healthcare professionals) and those in need of care (older adults). However, the effectiveness of…