相关论文: A new approach to evaluating legibility: Comparing…
We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…
Recent works explore collaboration between humans and teams of robots. These approaches make sense if the human is already working with the robot team; but how should robots encourage nearby humans to join their teams in the first place?…
The way our eyes move while reading can tell us about the cognitive effort required to process the text. In the present study, we use this fact to generate texts with controllable reading ease. Our method employs a model that predicts human…
The enhanced mobility brought by legged locomotion empowers quadrupedal robots to navigate through complex and unstructured environments. However, optimizing agile locomotion while accounting for the varying energy costs of traversing…
Robots in shared spaces often move in ways that are difficult for people to interpret, placing the burden on humans to adapt. High-DoF robots exhibit motion that people read as expressive, intentionally or not, making it important to…
Language models are increasingly being trained to "reason" before answering users' queries, outputting hundreds or even thousands of tokens worth of deliberation before their final answer. While the main intention of reasoning is to improve…
Robots must move legibly around people for safety reasons, especially for tasks where physical contact is possible. One such task is handovers, which requires implicit communication on where and when physical contact (object transfer)…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
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…
The increasing use of robots in unstructured environments necessitates the development of effective perception and navigation strategies to enable field robots to successfully perform their tasks. In particular, it is key for such robots to…
Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…
In this paper we investigate the notion of legibility in sequential decision-making in the context of teams and teamwork. There have been works that extend the notion of legibility to sequential decision making, for deterministic and for…
Learning from visual data opens the potential to accrue a large range of manipulation behaviors by leveraging human demonstrations without specifying each of them mathematically, but rather through natural task specification. In this paper,…
The robot learning community has made great strides in recent years, proposing new architectures and showcasing impressive new capabilities; however, the dominant metric used in the literature, especially for physical experiments, is…
In hybrid industrial environments, workers' comfort and positive perception of safety are essential requirements for successful acceptance and usage of collaborative robots. This paper proposes a novel human-robot interaction framework in…
Humans have an extraordinary ability to communicate and read the properties of objects by simply watching them being carried by someone else. This level of communicative skills and interpretation, available to humans, is essential for…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
Analyzing the readability of articles has been an important sociolinguistic task. Addressing this task is necessary to the automatic recommendation of appropriate articles to readers with different comprehension abilities, and it further…
We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…
Understanding the intentions of human teammates is critical for safe and effective human-robot interaction. The canonical approach for human-aware robot motion planning is to first predict the human's goal or path, and then construct a…