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We introduce Speech-to-Spatial, a referent disambiguation framework that converts verbal remote-assistance instructions into spatially grounded AR guidance. Unlike prior systems that rely on additional cues (e.g., gesture, gaze) or manual…
Language is never spoken in a vacuum. It is expressed, comprehended, and contextualized within the holistic backdrop of the speaker's history, actions, and environment. Since humans are used to communicating efficiently with situated…
Human-robot interaction requires a common understanding of the operational environment, which can be provided by a representation that blends geometric and symbolic knowledge: a semantic map. Through a semantic map the robot can interpret…
Spatial audio reasoning enables machines to interpret auditory scenes by understanding events and their spatial attributes. In this work, we focus on spatial audio understanding with an emphasis on reasoning about moving sources. First, we…
Expressive behaviors in robots are critical for effectively conveying their emotional states during interactions with humans. In this work, we present a framework that autonomously generates realistic and diverse robotic emotional…
We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…
Human-centered environments are rich with a wide variety of spatial relations between everyday objects. For autonomous robots to operate effectively in such environments, they should be able to reason about these relations and generalize…
The performance of prediction-based assistance for robot teleoperation degrades in unseen or goal-rich environments due to incorrect or quickly-changing intent inferences. Poor predictions can confuse operators or cause them to change their…
Spatial referring is a fundamental capability of embodied robots to interact with the 3D physical world. However, even with the powerful pretrained vision language models (VLMs), recent approaches are still not qualified to accurately…
Despite the ubiquity of large language models (LLMs) in AI research, the question of embodiment in LLMs remains underexplored, distinguishing them from embodied systems in robotics where sensory perception directly informs physical action.…
Assistive robot arms can help humans by partially automating their desired tasks. Consider an adult with motor impairments controlling an assistive robot arm to eat dinner. The robot can reduce the number of human inputs -- and how precise…
Understanding the intentions of robots is essential for natural and seamless human-robot collaboration. Ensuring that robots have means for non-verbal communication is a basis for intuitive and implicit interaction. For this, we contribute…
The ability to anticipate others' goals and intentions is at the basis of human-human social interaction. Such ability, largely based on non-verbal communication, is also a key to having natural and pleasant interactions with artificial…
Effective communication between humans and collaborative robots is essential for seamless Human-Robot Collaboration (HRC). In noisy industrial settings, nonverbal communication, such as gestures, plays a key role in conveying commands and…
This paper presents AlphaSpace, a novel methodology designed to enhance the spatial reasoning capabilities of language models for robotic manipulation in 3D Cartesian space. AlphaSpace employs a hierarchical semantics-based tokenization…
Robotic manipulation of highly deformable cloth presents a promising opportunity to assist people with several daily tasks, such as washing dishes; folding laundry; or dressing, bathing, and hygiene assistance for individuals with severe…
This paper explores the use of a body-worn vibrotactile vest to convey real-time information from robot to operator. Vibrotactile communication could be useful in providing information without compropmising or loading a person's visual or…
We deal with the navigation problem where the agent follows natural language instructions while observing the environment. Focusing on language understanding, we show the importance of spatial semantics in grounding navigation instructions…
Over the years, hand gesture recognition has been mostly addressed considering hand trajectories in isolation. However, in most sign languages, hand gestures are defined on a particular context (body region). We propose a pipeline to…
A remote robot operator's affective state can significantly impact the resulting robot's motions leading to unexpected consequences, even when the user follows protocol and performs permitted tasks. The recognition of a user operator's…