相关论文: Real-Time Detection of Robot Failures Using Gaze D…

Gaze is a valuable means of communication for impaired people with extremely limited motor capabilities. However, robust gaze-based intent recognition in multi-object environments is challenging due to gaze noise, micro-saccades, viewpoint…

Robot facial expressions and gaze are important factors for enhancing human-robot interaction (HRI), but their effects on human collaboration and perception are not well understood, for instance, in collaborative game scenarios. In this…

Learning collaborative behaviors is essential for multi-agent systems. Traditionally, multi-agent reinforcement learning solves this implicitly through a joint reward and centralized observations, assuming collaborative behavior will…

As robots have become increasingly common in human-rich environments, it is critical that they are able to exhibit social cues to be perceived as a cooperative and socially-conformant team member. We investigate the effect of robot gaze…

Objective We model factors contributing to rating timing for a single-dimensional, any-time trust in robotics measure. Background Many studies view trust as a slow-changing value after subjects complete a trial or at regular intervals.…

For a service robot, it is crucial to perceive as early as possible that an approaching person intends to interact: in this case, it can proactively enact friendly behaviors that lead to an improved user experience. We solve this perception…

This paper introduces a novel neural network-based reinforcement learning approach for robot gaze control. Our approach enables a robot to learn and to adapt its gaze control strategy for human-robot interaction neither with the use of…

Recent progress in robot autonomy and safety has significantly improved human-robot interactions, enabling robots to work alongside humans on various tasks. However, complex assembly tasks still present significant challenges due to…

Visual search of relevant targets in the environment is a crucial robot skill. We propose a preliminary framework for the execution monitor of a robot task, taking care of the robot attitude to visually searching the environment for targets…

This article describes GAZELOAD, a multimodal dataset for mental workload estimation in industrial human-robot collaboration. The data were collected in a laboratory assembly testbed where 26 participants interacted with two collaborative…

Learned robot policies have consistently been shown to be versatile, but they typically have no built-in mechanism for handling the complexity of open environments, making them prone to execution failures; this implies that deploying…

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…

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…

Shared control can help in teleoperated object manipulation by assisting with the execution of the user's intention. To this end, robust and prompt intention estimation is needed, which relies on behavioral observations. Here, an intention…

Despite significant improvements in robot capabilities, they are likely to fail in human-robot collaborative tasks due to high unpredictability in human environments and varying human expectations. In this work, we explore the role of…

When faced with an execution failure, an intelligent robot should be able to identify the likely reasons for the failure and adapt its execution policy accordingly. This paper addresses the question of how to utilise knowledge about the…

Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead,…

Despite significant developments in the design of surgical robots and automated techniques for objective evaluation of surgical skills, there are still challenges in ensuring safety in robot-assisted minimally-invasive surgery (RMIS). This…

Within this work, we explore intention inference for user actions in the context of a handheld robot setup. Handheld robots share the shape and properties of handheld tools while being able to process task information and aid manipulation.…

Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…