相关论文: A study on the Lombard Effect in telepresence robo…
To succeed in the real world, robots must deal with situations that differ from those seen during training. Those out-of-distribution situations for legged robot mainly include challenging dynamic gaps and perceptual gaps. Here we study the…
The indoor radio propagation channel is typically modeled as a two-state time-variant process where one of the states represents the channel when the environment is static, whereas the other state characterizes the medium when it is altered…
We consider the problem of performing inverse reinforcement learning when the trajectory of the expert is not perfectly observed by the learner. Instead, a noisy continuous-time observation of the trajectory is provided to the learner. This…
This paper investigates the influence of lateral horizontal self-motion of participants during signal presentation on distance and azimuth perception for frontal sound sources in a rectangular room. Additionally, the effect of deviating…
All robots create consequential sound -- sound produced as a result of the robot's mechanisms -- yet little work has explored how sound impacts human-robot interaction. Recent work shows that the sound of different robot mechanisms affects…
This paper introduces a novel framework integrating nonlinear acoustic computing and reinforcement learning to enhance advanced human-robot interaction under complex noise and reverberation. Leveraging physically informed wave equations…
Mobile robots increasingly operate alongside humans but are often out of sight, so that humans need to rely on the sounds of the robots to recognize their presence. For successful human-robot interaction (HRI), it is therefore crucial to…
Missing significant amounts of school during K-12 education is known to put students' cognitive and social development at risk. Alternatives such as home instruction and online learning are common, but lack sufficient interaction with peers…
Communication robots often need to initiate conversations with people in public spaces. At the same time, such robots must not disturb pedestrians. To handle these two requirements, an agent needs to estimate the communication desires of…
Many popular form factors of digital assistants---such as Amazon Echo, Apple Homepod, or Google Home---enable the user to hold a conversation with these systems based only on the speech modality. The lack of a screen presents unique…
Robustness to environmental noise is important to creating automatic speech emotion recognition systems that are deployable in the real world. Prior work on noise robustness has assumed that systems would not make use of sample-by-sample…
Social robots are starting to become incorporated into daily lives by assisting in the promotion of physical and mental wellbeing. This paper investigates the use of social robots for delivering mindfulness sessions. We created a…
In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration…
A command-following robot that serves people in everyday life must continually improve itself in deployment domains with minimal help from its end users, instead of engineers. Previous methods are either difficult to continuously improve…
Stochastic Optimal Control (SOC) typically considers noise only in the process model, i.e. unknown disturbances. However, in many robotic applications involving interaction with the environment, such as locomotion and manipulation,…
Human-in-the-loop telerobotic systems (HiLTS) are robotic tools designed to extend and in some circumstances improve the dexterous capabilities of the human operator in virtual and remote environments. Dexterous manipulation, however,…
Speech emotion recognition (SER) systems often struggle in real-world environments, where ambient noise severely degrades their performance. This paper explores a novel approach that exploits prior knowledge of testing environments to…
Robust manipulation often hinges on a robot's ability to perceive extrinsic contacts-contacts between a grasped object and its surrounding environment. However, these contacts are difficult to observe through vision alone due to occlusions,…
We present a novel, reflection-aware method for 3D sound localization in indoor environments. Unlike prior approaches, which are mainly based on continuous sound signals from a stationary source, our formulation is designed to localize the…
As robotic arms become prevalent in industry it is crucial to improve levels of trust from human collaborators. Low levels of trust in human-robot interaction can reduce overall performance and prevent full robot utilization. We…