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Sharing autonomy between robots and human operators could facilitate data collection of robotic task demonstrations to continuously improve learned models. Yet, the means to communicate intent and reason about the future are disparate…
When humans work together to complete a joint task, each person builds an internal model of the situation and how it will evolve. Efficient collaboration is dependent on how these individual models overlap to form a shared mental model…
Recent progress in imitation learning from human demonstrations has shown promising results in teaching robots manipulation skills. To further scale up training datasets, recent works start to use portable data collection devices without…
Over the past decade, extended reality (XR) has emerged as an assistive technology not only to augment residual vision of people losing their sight but also to study the rudimentary vision restored to blind people by a visual…
Current robot interfaces such as teach pendants and 2D screen displays used for task visualization and interaction often seem unintuitive and limited in terms of information flow. This compromises task efficiency as interacting with the…
Multi-agent human-robot teaming allows for the potential to gather information about various environments more efficiently by exploiting and combining the strengths of humans and robots. In industries like defense, search and rescue,…
The combination of Visual Guidance and Extended Reality (XR) technology holds the potential to greatly improve the performance of human workforces in numerous areas, particularly industrial environments. Focusing on virtual assembly tasks…
Robot-Assisted Therapy (RAT) has successfully been used in Human Robot Interaction (HRI) research by including social robots in health-care interventions by virtue of their ability to engage human users in both social and emotional…
While current personal smart devices excel in digital domains, they fall short in assisting users during human environment interaction. This paper proposes Heads Up eXperience (HUX), an AI system designed to bridge this gap, serving as a…
Mobile manipulators are increasingly deployed in human-centered environments to perform tasks. While completing such tasks, they should also be able to communicate their intent to the people around them using expressive robot behaviors.…
With recent advancements in AI and computational tools, intelligent paradigms have emerged to enhance fields like shared autonomy and human-machine teaming in healthcare. Advanced AI algorithms (e.g., reinforcement learning) can…
This paper studies collaboration through the cloud in the context of cooperative adaptive control for robot manipulators. We first consider the case of multiple robots manipulating a common object through synchronous centralized update laws…
HRI researchers have made major strides in developing robotic architectures that are capable of reading a limited set of social cues and producing behaviors that enhance their likeability and feeling of comfort amongst humans. However, the…
Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…
Shared control systems aim to combine human and robot abilities to improve task performance. However, achieving optimal performance requires that the robot's level of assistance adjusts the operator's cognitive workload in response to the…
This paper introduces a prototype for a new approach to assistive robotics, integrating edge computing with Natural Language Processing (NLP) and computer vision to enhance the interaction between humans and robotic systems. Our proof of…
Accelerator control systems often represent relatively complex and safety-sensitive human-machine interfaces within process control industries. These systems are technically robust and reflect the cumulative integration of solutions built…
By converting the entire 3D space around the user into a screen, Extended Reality (XR) can ameliorate traditional displays' space limitations and facilitate the consumption of multiple pieces of information at a time. However, if designed…
Robotic-assisted medical systems (RAMS) have gained significant attention for their advantages in alleviating surgeons' fatigue and improving patients' outcomes. These systems comprise a range of human-computer interactions, including…
The human-robot interaction (HRI) field has traditionally used Wizard-of-Oz (WoZ) controlled robots to explore navigation, conversational dynamics, human-in-the-loop interactions, and more to explore appropriate robot behaviors in everyday…