相关论文: Dialogue Object Search
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.…
We introduce Vocal Sandbox, a framework for enabling seamless human-robot collaboration in situated environments. Systems in our framework are characterized by their ability to adapt and continually learn at multiple levels of abstraction…
Large language models have given social robots the ability to autonomously engage in open-domain conversations. However, they are still missing a fundamental social skill: making use of the multiple modalities that carry social…
Human-robot collaboration requires the contactless estimation of the physical properties of containers manipulated by a person, for example while pouring content in a cup or moving a food box. Acoustic and visual signals can be used to…
The conversational search task aims to enable a user to resolve information needs via natural language dialogue with an agent. In this paper, we aim to develop a conceptual framework of the actions and intents of users and agents explaining…
Collaborative robots must quickly adapt to their partner's intent and preferences to proactively identify helpful actions. This is especially true in situated settings where human partners can continually teach robots new high-level…
In this paper, we explore the design and use of conversational telepresence robots to help homebound older adults interact with the external world. An initial needfinding study (N=8) using video vignettes revealed older adults' experiential…
Robots operating in human spaces must be able to engage in natural language interaction with people, both understanding and executing instructions, and using conversation to resolve ambiguity and recover from mistakes. To study this, we…
In this paper, we propose a SOCratic model for Robots Approaching humans based on TExt System (SOCRATES) focusing on the human search and approach based on free-form textual description; the robot first searches for the target user, then…
Autonomous robots and drones will work collaboratively and cooperatively in tomorrow's industry and agriculture. Before this becomes a reality, some form of standardised communication between man and machine must be established that…
In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…
We initiate the study of a new problem on searching and fetching in a distributed environment concerning treasure-evacuation from a unit disk. A treasure and an exit are located at unknown positions on the perimeter of a disk and at known…
Recent years have seen an increasing number of applications that have a natural language interface, either in the form of chatbots or via personal assistants such as Alexa (Amazon), Google Assistant, Siri (Apple), and Cortana (Microsoft).…
To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for…
Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…
Object search is a challenging task because when given complex language descriptions (e.g., "find the white cup on the table"), the robot must move its camera through the environment and recognize the described object. Previous works map…
This paper tackles the challenging task of evaluating socially situated conversational robots and presents a novel objective evaluation approach that relies on multimodal user behaviors. In this study, our main focus is on assessing the…
When robots retrieve specific objects from cluttered scenes, such as home and warehouse environments, the target objects are often partially occluded or completely hidden. Robots are thus required to search, identify a target object, and…
Gestures are a natural form of communication between humans and can also be leveraged for human-robot interaction. This work presents a gesture-based user interface for object selection using pointing and click gestures. An experiment with…
As social service robots become commonplace, it is essential for them to effectively interpret human signals, such as verbal, gesture, and eye gaze, when people need to focus on their primary tasks to minimize interruptions and…