相关论文: HAIR: Head-mounted AR Intention Recognition

This paper explores the estimation of user attention in the setting of a cooperative handheld robot: a robot designed to behave as a handheld tool but that has levels of task knowledge. We use a tool-mounted gaze tracking system, which,…

Intention recognition is an important step to facilitate collaboration among multiple agents. Existing work mainly focuses on intention recognition in a single-agent setting and uses a descriptive model, e.g. Bayesian networks, in the…

Human teams can be exceptionally efficient at adapting and collaborating during manipulation tasks using shared mental models. However, the same shared mental models that can be used by humans to perform robust low-level force and motion…

We consider the human-aware task planning problem where a human-robot team is given a shared task with a known objective to achieve. Recent approaches tackle it by modeling it as a team of independent, rational agents, where the robot plans…

Humans have the fascinating capacity of processing non-verbal visual cues to understand and anticipate the actions of other humans. This "intention reading" ability is underpinned by shared motor-repertoires and action-models, which we use…

Human-robot collaboration (HRC) has become increasingly relevant in industrial, household, and commercial settings. However, the effectiveness of such collaborations is highly dependent on the human and robots' situational awareness of the…

When humans work together to complete a joint task, each person builds an internal model of the situation and how it will evolve. Efficient collaboration is dependent on how these individual models overlap to form a shared mental model…

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 autonomous machines such as robots and vehicles start performing tasks involving human users, ensuring a safe interaction between them becomes an important issue. Translating methods from human-robot interaction (HRI) studies to the…

Embodied foundation models have achieved significant breakthroughs in robotic manipulation, yet they still depend heavily on large-scale robot demonstrations. Although recent works have explored leveraging human data to alleviate this…

Tight coordination is required for effective human-robot teams in domains involving fast dynamics and tactical decisions, such as multi-car racing. In such settings, robot teammates must react to cues of a human teammate's tactical…

This study investigates how adequate coordination among the different cognitive processes of a humanoid robot can be developed through end-to-end learning of direct perception of visuomotor stream. We propose a deep dynamic neural network…

Human-multi-robot shared control leverages human decision-making and robotic autonomy to enhance human-robot collaboration. While widely studied, existing systems often adopt a leader-follower model, limiting robot autonomy to some extent.…

In complex environments, where the human sensory system reaches its limits, our behaviour is strongly driven by our beliefs about the state of the world around us. Accessing others' beliefs, intentions, or mental states in general, could…

This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…

Many tasks performed by two humans require mutual interaction between arms such as handing-over tools and objects. In order for a robotic arm to interact with a human in the same way, it must reason about the location of the human arm in…

Military human robot interaction (MHRI) presents a novel opportunity to blend the capabilities of autonomous and Artificial Intelligence (AI)-enabled systems with the skills and expertise of humans. The concept promises military advantages…

Human-robot collaboration, in which the robot intelligently assists the human with the upcoming task, is an appealing objective. To achieve this goal, the agent needs to be equipped with a fundamental collaborative navigation ability, where…

The effectiveness of human-robot interaction often hinges on the ability to cultivate engagement - a dynamic process of cognitive involvement that supports meaningful exchanges. Many existing definitions and models of engagement are either…

Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…