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My overarching research goal is to provide robots with perceptional abilities that allow interactions with humans in a human-like manner. To develop these perceptional abilities, I believe that it is useful to study the principles of the…
Natural-language-facilitated human-robot cooperation (NLC), in which natural language (NL) is used to share knowledge between a human and a robot for conducting intuitive human-robot cooperation (HRC), is continuously developing in the…
Lifestyle support through robotics is an increasingly promising field, with expectations for robots to take over or assist with chores like floor cleaning, table setting and clearing, and fetching items. The growth of AI, particularly…
In the rapidly evolving landscape of human-robot collaboration, effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder efficiency.…
The control of robots for manipulation tasks generally relies on visual input. Recent advances in vision-language models (VLMs) enable the use of natural language instructions to condition visual input and control robots in a wider range of…
Manipulation tasks in daily life, such as pouring water, unfold intentionally under specialized manipulation contexts. Being able to process contextual knowledge in these Activities of Daily Living (ADLs) over time can help us understand…
When humans design cost or goal specifications for robots, they often produce specifications that are ambiguous, underspecified, or beyond planners' ability to solve. In these cases, corrections provide a valuable tool for human-in-the-loop…
Automating complex tasks using robotic systems requires skills for planning, control and execution. This paper proposes a complete robotic system for maintenance automation, which can automate disassembly and assembly operations under…
Advances in large language models (LLMs) are profoundly reshaping the field of human-robot interaction (HRI). While prior work has highlighted the technical potential of LLMs, few studies have systematically examined their human-centered…
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…
Bridging the gap between natural language commands and autonomous execution in unstructured environments remains an open challenge for robotics. This requires robots to perceive and reason over the current task scene through multiple…
As the first robotic platforms slowly approach our everyday life, we can imagine a near future where service robots will be easily accessible by non-expert users through vocal interfaces. The capability of managing natural language would…
Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the critical aspects of robots' adaptability and error…
Programming robots is a complicated and time-consuming task. A robot is essentially a real-time, distributed embedded system. Often, control and communication paths within the system are tightly coupled to the actual physical configuration…
As robots become increasingly integrated into everyday environments, intuitive communication paradigms such as natural language and end-user programming have become indispensable for specifying autonomous robot behavior. However, these…
Automatic programming has seen increasing popularity due to the emergence of tools like GitHub Copilot which rely on Large Language Models (LLMs). At the same time, automatically generated code faces challenges during deployment due to…
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,…
The rapid advancement of Large Language Models (LLMs) has marked a significant breakthrough in Artificial Intelligence (AI), ushering in a new era of Human-centered Artificial Intelligence (HAI). HAI aims to better serve human welfare and…
Despite the remarkable code generation abilities of large language models LLMs, they still face challenges in complex task handling. Robot development, a highly intricate field, inherently demands human involvement in task allocation and…
The goal of this study is to identify factors that support and enhance older adults' creative experiences in human-robot co-creativity. Because the research into the use of robots for creativity support with older adults remains…