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Imitation learning frameworks that learn robot control policies from demonstrators' motions via hand-mounted demonstration interfaces have attracted increasing attention. However, due to differences in physical characteristics between…
Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…
To assist human review process, we build a novel ReviewRobot to automatically assign a review score and write comments for multiple categories such as novelty and meaningful comparison. A good review needs to be knowledgeable, namely that…
This paper outlines a theoretical framework using which different automatic metrics can be designed for evaluation of Machine Translation systems. It introduces the concept of {\em cognitive ease} which depends on {\em adequacy} and {\em…
Large language models enable unscripted conversations while maintaining a consistent personality. One desirable personality trait in cooperative partners, known to improve task performance, is agreeableness. To explore the impact of large…
Autonomous navigation in unfamiliar environments often relies on geometric mapping and planning strategies that overlook rich semantic cues such as signs, room numbers, and textual labels. We propose a novel semantic navigation framework…
Large language models (LLMs) increasingly participate in morally sensitive decision-making, yet how they organize ethical frameworks across reasoning steps remains underexplored. We introduce \textit{moral reasoning trajectories}, sequences…
TalkWithMachines aims to enhance human-robot interaction by contributing to interpretable industrial robotic systems, especially for safety-critical applications. The presented paper investigates recent advancements in Large Language Models…
Achieving effective and seamless human-robot collaboration requires two key outcomes: enhanced team performance and fostering a positive human perception of both the robot and the collaboration. This paper investigates the capability of the…
The semantics of the environment, such as the terrain type and property, reveals important information for legged robots to adjust their behaviors. In this work, we present a framework that learns semantics-aware locomotion skills from…
While there is increasing concern about the interpretability of neural models, the evaluation of interpretability remains an open problem, due to the lack of proper evaluation datasets and metrics. In this paper, we present a novel…
Evaluating learned robot control policies to determine their physical task-level capabilities costs experimenter time and effort. The growing number of policies and tasks exacerbates this issue. It is impractical to test every policy on…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…
Robot morphology, the form, shape, and structure of robots, is a key design space in human-robot interaction (HRI), shaping how robots function, express themselves, and interact with people. Yet, despite its importance, little is known…
Continual learning in robotics seeks systems that can constantly adapt to changing environments and tasks, mirroring human adaptability. A key challenge is refining dynamics models, essential for planning and control, while addressing…
Language-conditioned robot manipulation is an emerging field aimed at enabling seamless communication and cooperation between humans and robotic agents by teaching robots to comprehend and execute instructions conveyed in natural language.…
In Reinforcement Learning interpretability generally means to provide insight into the agent's mechanisms such that its decisions are understandable by an expert upon inspection. This definition, with the resulting methods from the…
LLM-powered multimodal systems are increasingly used to interpret human behavior, yet how researchers apply the models' 'social competence' remains poorly understood. This paper presents a systematic literature review of 176 publications…
Explanations in Machine Learning come in many forms, but a consensus regarding their desired properties is yet to emerge. In this paper we introduce a taxonomy and a set of descriptors that can be used to characterise and systematically…
Many modern robotics applications require robots to function autonomously in dynamic environments including other decision making agents, such as people or other robots. This calls for fast and scalable interactive motion planning. This…