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It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…
The paper presents a visio-verbal teleimpedance interface for commanding 3D stiffness ellipsoids to the remote robot with a combination of the operator's gaze and verbal interaction. The gaze is detected by an eye-tracker, allowing the…
As social VR grows in popularity, understanding how to optimise interactions becomes increasingly important. Interpersonal distance (the physical space people maintain between each other) is a key aspect of user experience. Previous work in…
Persons with visual impairments (PwVI) have difficulties understanding and navigating spaces around them. Current wayfinding technologies either focus solely on navigation or provide limited communication about the environment. Motivated by…
In this paper, we investigate the utility of head-mounted display (HMD) interfaces for navigation of mobile robots. We focus on the selection of waypoint positions for the robot, whilst maintaining an egocentric view of the robot's…
We investigate the impact of robot appearance on users' spoken behavior during real-world interactions by comparing a human-like android, ERICA, with a less anthropomorphic humanoid, TELECO. Analyzing data from 42 participants at SIGDIAL…
Safety in human-robot interaction can be divided into physical safety and perceived safety, where the latter is still under-addressed in the literature. Investigating perceived safety in human-robot interaction requires a multidisciplinary…
Artificial intelligence systems increasingly involve continual learning to enable flexibility in general situations that are not encountered during system training. Human interaction with autonomous systems is broadly studied, but research…
Virtual Reality (VR) systems collect fine-grained behavioral and biometric data, yet privacy policies are rarely read or understood due to their complex language, length, and poor integration into users' interaction workflows. To lower the…
This paper explores how a recent European Union proposal, the so-called Chat Control, which creates regulatory incentives for providers to implement content detection and communication scanning, could transform the foundations of…
Effective physical human-robot interaction requires systems that are not only adaptable to user preferences but also transparent about their actions. This paper introduces BRIDGE, a system for bidirectional human-robot communication in…
We are approaching a future where social robots will progressively become widespread in many aspects of our daily lives, including education, healthcare, work, and personal use. All of such practical applications require that humans and…
In this position paper, we propose researching the combination of Augmented Reality (AR) and Artificial Intelligence (AI) to support conversations, inspired by the interfaces of dialogue systems commonly found in videogames. AR-capable…
Virtual reality (VR) interfaces for robots provide a three-dimensional (3D) view of the robot in its environment, which allows people to better plan complex robot movements in tight or cluttered spaces. In our prior work, we created a VR…
Virtual reality (VR) offers the promise of an infinite office and remote collaboration, however, existing interactions in VR do not strongly support one of the most essential tasks for most knowledge workers, reading. This paper presents…
Communication robots often need to initiate conversations with people in public spaces. At the same time, such robots must not disturb pedestrians. To handle these two requirements, an agent needs to estimate the communication desires of…
Notwithstanding the tremendous progress that is taking place in spoken language technology, effective speech-based human-robot interaction still raises a number of important challenges. Not only do the fields of robotics and spoken language…
Generative AI tools can provide people with the ability to create virtual environments and scenes with natural language prompts. Yet, how people will formulate such prompts is unclear -- particularly when they inhabit the environment that…
Robots have become ubiquitous tools in various industries and households, highlighting the importance of human-robot interaction (HRI). This has increased the need for easy and accessible communication between humans and robots. Recent…
End-to-end robot policies achieve high performance through neural networks trained via reinforcement learning (RL). Yet, their black box nature and abstract reasoning pose challenges for human-robot interaction (HRI), because humans may…