相关论文: Telerobotic Pointing Gestures Shape Human Spatial …
Robots that interact with humans in a physical space or application need to think about the person's posture, which typically comes from visual sensors like cameras and infra-red. Artificial intelligence and machine learning algorithms use…
Collaborative robotics requires effective communication between a robot and a human partner. This work proposes a set of interpretive principles for how a robotic arm can use pointing actions to communicate task information to people by…
Humans use semantic concepts such as spatial relations between objects to describe scenes and communicate tasks such as "Put the tea to the right of the cup" or "Move the plate between the fork and the spoon." Just as children, assistive…
People feel attached to places that are meaningful to them, which psychological research calls "place attachment." Place attachment is associated with self-identity, self-continuity, and psychological well-being. Even small cues, including…
Spatial computing -- the ability of devices to be aware of their surroundings and to represent this digitally -- offers novel capabilities in human-robot interaction. In particular, the combination of spatial computing and egocentric…
Cooperation among humans makes it easy to execute tasks and navigate seamlessly even in unknown scenarios. With our individual knowledge and collective cognition skills, we can reason about and perform well in unforeseen situations and…
Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…
Recognizing spatial relations and reasoning about them is essential in multiple applications including navigation, direction giving and human-computer interaction in general. Spatial relations between objects can either be explicit --…
The human language is one of the most natural interfaces for humans to interact with robots. This paper presents a robot system that retrieves everyday objects with unconstrained natural language descriptions. A core issue for the system is…
Whenever we are addressing a specific object or refer to a certain spatial location, we are using referential or deictic gestures usually accompanied by some verbal description. Especially pointing gestures are necessary to dissolve…
In human-robot collaborative interaction scenarios, nonverbal communication plays an important role. Both, signals sent by a human collaborator need to be identified and interpreted by the robotic system, and the signals sent by the robot…
Robots in shared spaces often move in ways that are difficult for people to interpret, placing the burden on humans to adapt. High-DoF robots exhibit motion that people read as expressive, intentionally or not, making it important to…
A robot needs contextual awareness, effective speech production and complementing non-verbal gestures for successful communication in society. In this paper, we present our end-to-end system that tries to enhance the effectiveness of…
Robots that can manipulate objects in unstructured environments and collaborate with humans can benefit immensely by understanding natural language. We propose a pipelined architecture of two stages to perform spatial reasoning on the text…
We introduce a neural implicit representation for grasps of objects from multiple robotic hands. Different grasps across multiple robotic hands are encoded into a shared latent space. Each latent vector is learned to decode to the 3D shape…
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…
A robot's ability to understand or ground natural language instructions is fundamentally tied to its knowledge about the surrounding world. We present an approach to grounding natural language utterances in the context of factual…
Pointing gestures are a common interaction method used in Human-Robot Collaboration for various tasks, ranging from selecting targets to guiding industrial processes. This study introduces a method for localizing pointed targets within a…
Teleoperation (i.e., controlling a robot with human motion) proves promising in enabling a humanoid robot to move as dynamically as a human. But how to map human motion to a humanoid robot matters because a human and a humanoid robot rarely…
One of the challenges of telepresence robotics is to provide ubiquitous social-interpersonalimmersion. In order to achieve this, there is a need to understand and model the factors that wouldallow the users to control the transmission of…