相关论文: A new approach to evaluating legibility: Comparing…

Legibility of robot motion is critical in human-robot interaction, as it allows humans to quickly infer a robot's intended goal. Although traditional trajectory generation methods typically prioritize efficiency, they often fail to make the…

Methods for scoring text readability have been studied for over a century, and are widely used in research and in user-facing applications in many domains. Thus far, the development and evaluation of such methods have primarily relied on…

With the increasing presence of social robots in various environments and applications, there is an increasing need for these robots to exhibit socially-compliant behaviors. Legible motion, characterized by the ability of a robot to clearly…

A multiagent sequential decision problem has been seen in many critical applications including urban transportation, autonomous driving cars, military operations, etc. Its widely known solution, namely multiagent reinforcement learning, has…

Reading code is an essential activity in software maintenance and evolution. Several studies with human subjects have investigated how different factors, such as the employed programming constructs and naming conventions, can impact code…

Ideally, robots should move in ways that maximize the knowledge gained about the state of both their internal system and the external operating environment. Trajectory design is a challenging problem that has been investigated from a…

Automatic readability assessment plays a key role in ensuring effective and accessible written communication. Despite significant progress, the field is hindered by inconsistent definitions of readability and measurements that rely on…

The environments in which the collaboration of a robot would be the most helpful to a person are frequently uncontrolled and cluttered with many objects present. Legible robot arm motion is crucial in tasks like these in order to avoid…

As both legged robots and embedded compute have become more capable, researchers have started to focus on field deployment of these robots. Robust autonomy in unstructured environments requires perception of the world around the robot in…

Human--robot interaction requires robots whose actions are legible, allowing humans to interpret, predict, and feel safe around them. This study investigates the legibility of humanoid robot arm movements in a pointing task, aiming to…

In cooperative environments, such as in factories or assistive scenarios, it is important for a robot to communicate its intentions to observers, who could be either other humans or robots. A legible trajectory allows an observer to quickly…

In this paper we investigate the notion of legibility in sequential decision tasks under uncertainty. Previous works that extend legibility to scenarios beyond robot motion either focus on deterministic settings or are computationally too…

Predicting the motion of other road agents enables autonomous vehicles to perform safe and efficient path planning. This task is very complex, as the behaviour of road agents depends on many factors and the number of possible future…

Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…

We present SLOT-V, a novel supervised learning framework that learns observer models (human preferences) from robot motion trajectories in a legibility context. Legibility measures how easily a (human) observer can infer the robot's goal…

We present a set of novel neural supervised and unsupervised approaches for determining the readability of documents. In the unsupervised setting, we leverage neural language models, whereas in the supervised setting, three different neural…

Trustworthiness is a crucial concept in the context of human-robot interaction. Cooperative robots must be transparent regarding their decision-making process, especially when operating in a human-oriented environment. This paper presents a…

Judging the readability of text has many important applications, for instance when performing text simplification or when sourcing reading material for language learners. In this paper, we present a 518 participant study which investigates…

Mobile robots have recently been deployed in public spaces such as shopping malls, airports, and urban sidewalks. Most of these robots are designed with human-aware motion planning capabilities but are not designed to communicate with…

In this work, we aim to enable legged robots to learn how to interpret human social cues and produce appropriate behaviors through physical human guidance. However, learning through physical engagement can place a heavy burden on users when…