相关论文: WHY: Natural Explanations from a Robot Navigator

As multiple robots are expected to coexist in future households, natural language is increasingly envisioned as a primary medium for human-robot and robot-robot communication. This paper introduces the concept of a Natural Language…

Explanations constitute an important aspect of successful human robot interactions and can enhance robot understanding. To improve the understanding of the robot, we have developed four levels of explanation (LOE) based on two questions:…

Robotic commands in natural language usually contain various spatial descriptions that are semantically similar but syntactically different. Mapping such syntactic variants into semantic concepts that can be understood by robots is…

Socially Assistive Robots navigate highly sensible environments, which place high demands on safety and communication with users. The reasoning behind an SAR's actions must be transparent at any time to earn users' trust and acceptance.…

Human collaborators can effectively communicate with their partners to finish a common task by inferring each other's mental states (e.g., goals, beliefs, and desires). Such mind-aware communication minimizes the discrepancy among…

Reinforcement learning and probabilistic reasoning algorithms aim at learning from interaction experiences and reasoning with probabilistic contextual knowledge respectively. In this research, we develop algorithms for robot task…

As AI becomes an integral part of our lives, the development of explainable AI, embodied in the decision-making process of an AI or robotic agent, becomes imperative. For a robotic teammate, the ability to generate explanations to justify…

Designing robots capable of generating interpretable behavior is a prerequisite for achieving effective human-robot collaboration. This means that the robots need to be capable of generating behavior that aligns with human expectations and,…

Recently the field of Human-Robot Interaction gained popularity, due to the wide range of possibilities of how robots can support humans during daily tasks. One form of supportive robots are socially assistive robots which are specifically…

The visual world is very rich and generally too complex to perceive in its entirety. Yet only certain features are typically required to adequately perform some task in a given situation. Rather than hardwire-in decisions about when and…

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…

Intelligent systems are increasingly part of our everyday lives and have been integrated seamlessly to the point where it is difficult to imagine a world without them. Physical manifestations of those systems on the other hand, in the form…

The representation of the knowledge needed by a robot to perform complex tasks is restricted by the limitations of perception. One possible way of overcoming this situation and designing "knowledgeable" robots is to rely on the interaction…

This paper introduces a system designed to generate explanations for the actions performed by an autonomous robot in Human-Robot Interaction (HRI). Explainability in robotics, encapsulated within the concept of an eXplainable Autonomous…

Inscrutable AI systems are difficult to trust, especially if they operate in safety-critical settings like autonomous driving. Therefore, there is a need to build transparent and queryable systems to increase trust levels. We propose a…

Natural language provides a widely accessible and expressive interface for robotic agents. To understand language in complex environments, agents must reason about the full range of language inputs and their correspondence to the world.…

When a robot is asked to verbalize its plan it can do it in many ways. For example, a seemingly natural strategy is incremental, where the robot verbalizes its planned actions in plan order. However, an important aspect of this type of…

Navigation and motion control of a robot to a destination are tasks that have historically been performed with the assumption that contact with the environment is harmful. This makes sense for rigid-bodied robots where obstacle collisions…

Humans engaged in collaborative activities are naturally able to convey their intentions to teammates through multi-modal communication, which is made up of explicit and implicit cues. Similarly, a more natural form of human-robot…

Robots navigating in human environments should use language to ask for assistance and be able to understand human responses. To study this challenge, we introduce Cooperative Vision-and-Dialog Navigation, a dataset of over 2k embodied,…