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Humans have needs motivating their behavior according to intensity and context. However, we also create preferences associated with each action's perceived pleasure, which is susceptible to changes over time. This makes decision-making more…
In human-robot collaboration, robot errors are inevitable -- damaging user trust, willingness to work together, and task performance. Prior work has shown that people naturally respond to robot errors socially and that in social…
We present a novel framework for human-robot \emph{logical} interaction that enables robots to reliably satisfy (infinite horizon) temporal logic tasks while effectively collaborating with humans who pursue independent and unknown tasks.…
The adaptation to users' preferences and the ability to infer and interpret humans' beliefs and intents, which is known as the Theory of Mind (ToM), are two crucial aspects for achieving effective human-robot collaboration. Despite its…
In the rapidly evolving landscape of human-robot collaboration, effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder efficiency.…
Common experience suggests that agents who know each other well are better able to work together. In this work, we address the problem of calibrating intention and capabilities in human-robot collaboration. In particular, we focus on…
For effective human-robot collaboration, a robot must align its actions with human goals, even as they change mid-task. Prior approaches often assume fixed goals, reducing goal prediction to a one-time inference. However, in real-world…
Human activity recognition is typically addressed by detecting key concepts like global and local motion, features related to object classes present in the scene, as well as features related to the global context. The next open challenges…
In human-robot cooperation, the robot cooperates with humans to accomplish the task together. Existing approaches assume the human has a specific goal during the cooperation, and the robot infers and acts toward it. However, in real-world…
Humanoid robots have apparently similar body structure like human beings. Due to their technical design, they are sharing the same workspace with humans. They are placed to clean things, to assist old age people, to entertain us and most…
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…
As high-speed, agile robots become more commonplace, these robots will have the potential to better aid and collaborate with humans. However, due to the increased agility and functionality of these robots, close collaboration with humans…
This paper proposes a taxonomy of semantic information in robot-assisted disaster response. Robots are increasingly being used in hazardous environment industries and emergency response teams to perform various tasks. Operational…
Humans have developed the capability to teach relevant aspects of new or adapted tasks to a social peer with very few task demonstrations by making use of scaffolding strategies that leverage prior knowledge and importantly prior joint…
We report on our effort to create a corpus dataset of different social context situations in an office setting for further disciplinary and interdisciplinary research in computer vision, psychology, and human-robot-interaction. For social…
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).…
Successful human-robot teaming will require robots to adapt autonomously to a human teammate's internal state, where a critical element of such adaptation is the ability to estimate the human's workload in unknown situations. Existing…
Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…
When encountering a robot in the wild, it is not inherently clear to human users what the robot's capabilities are. When encountering misunderstandings or problems in spoken interaction, robots often just apologize and move on, without…
Performing joint interaction requires constant mutual monitoring of own actions and their effects on the other's behaviour. Such an action-effect monitoring is boosted by social cues and might result in an increasing sense of agency. Joint…