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In this paper, we investigate the impact of high-level semantics (evaluation of the environment) on Human-Robot Teams (HRT) and Human-Robot Interaction (HRI) in the context of mobile robot deployments. Although semantics has been widely…

This paper presents a method for designing energy-aware collaboration tasks between humans and robots, and generating corresponding trajectories to carry out those tasks. The method involves using high-level specifications expressed as…

We present a hierarchical language-driven framework for robotic task and motion planning to improve natural, intuitive human-robot interaction in service and assistance scenarios. The proposed system employs two large language model (LLM)…

The recent breakthroughs in the research on Large Language Models (LLMs) have triggered a transformation across several research domains. Notably, the integration of LLMs has greatly enhanced performance in robot Task And Motion Planning…

Ambiguities are inevitable in human-robot interaction, especially when a robot follows user instructions in a large, shared space. For example, if a user asks the robot to find an object in a home environment with underspecified…

Remarkable capabilities have been achieved by robotics and AI, mastering complex tasks and environments. Yet, humans often remain passive observers, fascinated but uncertain how to engage. Robots, in turn, cannot reach their full potential…

Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform…

As robots become ubiquitous in the workforce, it is essential that human-robot collaboration be both intuitive and adaptive. A robot's quality improves based on its ability to explicitly reason about the time-varying (i.e. learning curves)…

We focus on the problem of how we can enable a robot to collaborate seamlessly with a human partner, specifically in scenarios where preexisting data is sparse. Much prior work in human-robot collaboration uses observational models of…

The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…

Technological progress increasingly envisions the use of robots interacting with people in everyday life. Human-robot collaboration (HRC) is the approach that explores the interaction between a human and a robot, during the completion of a…

Complex object manipulation tasks often span over long sequences of operations. Task planning over long-time horizons is a challenging and open problem in robotics, and its complexity grows exponentially with an increasing number of…

We develop data-driven models to predict when a robot should feed during social dining scenarios. Being able to eat independently with friends and family is considered one of the most memorable and important activities for people with…

Deep-learning based computer vision models have proved themselves to be ground-breaking approaches to human activity recognition (HAR). However, most existing works are dedicated to improve the prediction accuracy through either creating…

We consider the human-aware task planning problem where a human-robot team is given a shared task with a known objective to achieve. Recent approaches tackle it by modeling it as a team of independent, rational agents, where the robot plans…

The number of robots deployed in our daily surroundings is ever-increasing. Even in the industrial set-up, the use of coworker robots is increasing rapidly. These cohabitant robots perform various tasks as instructed by co-located human…

Proactive robot assistance enables a robot to anticipate and provide for a user's needs without being explicitly asked. We formulate proactive assistance as the problem of the robot anticipating temporal patterns of object movements…

Intelligent service robots require the ability to perform a variety of tasks in dynamic environments. Despite the significant progress in robotic grasping, it is still a challenge for robots to decide grasping position when given different…

Efficient and robust task planning for a human-robot collaboration (HRC) system remains challenging. The human-aware task planner needs to assign jobs to both robots and human workers so that they can work collaboratively to achieve better…

As groups of robots increasingly collaborate with humans, understanding how humans perceive them is critical for designing effective human-robot teams. While prior research examined how humans interpret and evaluate the abilities and…