相关论文: Physical Interaction as Communication: Learning Ro…

Physical Human-Human Interaction (pHHI) involves the use of multiple sensory modalities. Studies of communication through spoken utterances and gestures are well established, but communication through force signals is not well understood.…

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…

With the advancements in human-robot interaction (HRI), robots are now capable of operating in close proximity and engaging in physical interactions with humans (pHRI). Likewise, contact-based pHRI is becoming increasingly common as robots…

During human-robot interaction (HRI), we want the robot to understand us, and we want to intuitively understand the robot. In order to communicate with and understand the robot, we can leverage interactions, where the human and robot…

Robots are finding new applications where physical interaction with a human is necessary: manufacturing, healthcare, and social tasks. Accordingly, the field of physical human-robot interaction (pHRI) has leveraged impedance control…

Clear communication of robot intent fosters transparency and interpretability in physical human-robot interaction (pHRI), particularly during assistive tasks involving direct human-robot contact. We introduce CoRI, a pipeline that…

Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…

Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…

This paper proposes a control method to address the physical Human-Robot Interaction (pHRI) challenge in the context of hierarchical tasks. A common approach to managing hierarchical tasks is Hierarchical Quadratic Programming (HQP), which,…

Humans often assume that robots are rational. We believe robots take optimal actions given their objective; hence, when we are uncertain about what the robot's objective is, we interpret the robot's actions as optimal with respect to our…

Today, physical Human-Robot Interaction (pHRI) is a very popular topic in the field of ground manipulation. At the same time, Aerial Physical Interaction (APhI) is also developing very fast. Nevertheless, pHRI with aerial vehicles has not…

Understanding how humans respond to uncertainty is critical for designing safe and effective physical human-robot interaction (pHRI), as physically working with robots introduces multiple sources of uncertainty, including trust, comfort,…

Learning robot objective functions from human input has become increasingly important, but state-of-the-art techniques assume that the human's desired objective lies within the robot's hypothesis space. When this is not true, even methods…

Corrections offer a natural modality for people to provide feedback to a robot, by (i) intervening in the robot's behavior when they believe the robot is failing (or will fail) the task objectives and (ii) modifying the robot's behavior to…

Recently, human-robot interaction (HRI) is an extensive research topic and theme which gained importance and significance. HRI aims at the complementary combination between the robot capabilities and human skills. The robots assist humans…

The study of Human-Robot Interaction (HRI) aims to create close and friendly communication between humans and robots. In the human-center HRI, an essential aspect of implementing a successful and effective HRI is building a natural and…

There are many examples of cases where access to improved models of human behavior and cognition has allowed creation of robots which can better interact with humans, and not least in road vehicle automation this is a rapidly growing area…

We humans are biased - and our robotic creations are biased, too. Bias is a natural phenomenon that drives our perceptions and behavior, including when it comes to socially expressive robots that have humanlike features. Recognizing that we…

This paper proposes an adaptive admittance controller for improving efficiency and safety in physical human-robot interaction (pHRI) tasks in small-batch manufacturing that involve contact with stiff environments, such as drilling,…

The goal of the Interactive Learning for Artificial Intelligence (AI) for Human-Robot Interaction (HRI) symposium is to bring together the large community of researchers working on interactive learning scenarios for interactive robotics.…