Related papers: Designing for Error Recovery in Human-Robot Intera…
A robot operating in isolation needs to reason over the uncertainty in its model of the world and adapt its own actions to account for this uncertainty. Similarly, a robot interacting with people needs to reason over its uncertainty over…
Robots are increasingly entering uncertain and unstructured environments. Within these, robots are bound to face unexpected external disturbances like accidental human or tool collisions. Robots must develop the capacity to respond to…
Despite great advances in what robots can do, they still experience failures in human-robot collaborative tasks due to high randomness in unstructured human environments. Moreover, a human's unfamiliarity with a robot and its abilities can…
From its inception, AI has had a rather ambivalent relationship to humans---swinging between their augmentation and replacement. Now, as AI technologies enter our everyday lives at an ever increasing pace, there is a greater need for AI…
As robots and other intelligent agents move from simple environments and problems to more complex, unstructured settings, manually programming their behavior has become increasingly challenging and expensive. Often, it is easier for a…
This paper presents an overview of robot failure detection work from HRI and adjacent fields using failures as an opportunity to examine robot explanation behaviours. As humanoid robots remain experimental tools in the early 2020s,…
Real-world robotic tasks require complex reward functions. When we define the problem the robot needs to solve, we pretend that a designer specifies this complex reward exactly, and it is set in stone from then on. In practice, however,…
When personal, assistive, and interactive robots make mistakes, humans naturally and intuitively correct those mistakes through physical interaction. In simple situations, one correction is sufficient to convey what the human wants. But…
Robots operating in unstructured human environments inevitably encounter failures, especially in robot caregiving scenarios. While humans can often help robots recover, excessive or poorly targeted queries impose unnecessary cognitive and…
Human-in-the-loop learning is gaining popularity, particularly in the field of robotics, because it leverages human knowledge about real-world tasks to facilitate agent learning. When people instruct robots, they naturally adapt their…
We argue that the direct experimental approaches to elucidate the architecture of higher brains may benefit from insights gained from exploring the possibilities and limits of artificial control architectures for robot systems. We present…
Using Large Language Models (LLMs) to produce robot programs from natural language has allowed for robot systems that can complete a higher diversity of tasks. However, LLM-generated programs may be faulty, either due to ambiguity in…
With the growing capabilities and pervasiveness of AI systems, societies must collectively choose between reduced human autonomy, endangered democracies and limited human rights, and AI that is aligned to human and social values, nurturing…
Intelligent robots need to generate and execute plans. In order to deal with the complexity of real environments, planning makes some assumptions about the world. When executing plans, the assumptions are usually not met. Most works have…
Explainable Artificial Intelligence (XAI) has re-emerged in response to the development of modern AI and ML systems. These systems are complex and sometimes biased, but they nevertheless make decisions that impact our lives. XAI systems are…
As the deployment of artificial intelligence (AI) is changing many fields and industries, there are concerns about AI systems making decisions and recommendations without adequately considering various ethical aspects, such as…
The fast pace of advances in AI promises to revolutionize various aspects of knowledge work, extending its influence to daily life and professional fields alike. We advocate for a paradigm where AI is seen as a collaborative co-pilot,…
Artificial intelligence (AI) and robotic coaches promise the improved engagement of patients on rehabilitation exercises through social interaction. While previous work explored the potential of automatically monitoring exercises for AI and…
With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…
Robots are required to execute increasingly complex instructions in dynamic environments, which can lead to a disconnect between the user's intent and the robot's representation of the instructions. In this paper we present a natural…