相关论文: Generating Robot Constitutions & Benchmarks for Se…

Embodied agents, in the form of virtual agents or social robots, are rapidly becoming more widespread. In human-human interactions, humans use nonverbal behaviours to convey their attitudes, feelings, and intentions. Therefore, this…

Large Language Models (LLMs) have revolutionized content creation across digital platforms, offering unprecedented capabilities in natural language generation and understanding. These models enable beneficial applications such as content…

Contemporary robots are increasingly mimicking human social behaviours to facilitate interaction, such as smiling to signal approachability, or hesitating before taking an action to allow people time to react. Such techniques can activate a…

Video generative models (VGMs) pretrained on large-scale internet data can produce temporally coherent rollout videos that capture rich object dynamics, offering a compelling foundation for zero-shot robotic manipulation. However, VGMs…

As large language models (LLMs) become increasingly integrated into society, their alignment with human morals is crucial. To better understand this alignment, we created a large corpus of human- and LLM-generated responses to various moral…

Warning: This paper contains examples of harmful language and images. Reader discretion is advised. Recently, vision-language models have demonstrated increasing influence in morally sensitive domains such as autonomous driving and medical…

Vision-language models (VLMs) have demonstrated remarkable capabilities in understanding human-object interactions, but their application to robotic systems with non-humanoid morphologies remains largely unexplored. This work investigates…

Ensuring robust safety measures across a wide range of scenarios is crucial for user-facing systems. While Large Language Models (LLMs) can generate valuable data for safety measures, they often exhibit distributional biases, focusing on…

Interactions within human societies are usually regulated by social norms. If robots are to be accepted into human society, it is essential that they are aware of and capable of reasoning about social norms. In this paper, we focus on how…

The three laws of Robotics first appeared together in Isaac Asimov's story 'Runaround' after being mentioned in some form or the other in previous works by Asimov. These three laws commonly known as the three laws of robotics are the…

Taking the stance that artificially conscious agents should be given human-like rights, in this paper we attempt to define consciousness, aggregate existing universal human rights, analyze robotic laws with roots in both reality and science…

Vision-Language Model (VLM) is an important component to enable robust robot manipulation. Yet, using it to translate human instructions into an action-resolvable intermediate representation often needs a tradeoff between…

We present a conceptual framework for training Vision-Language Models (VLMs) to perform Visual Perspective Taking (VPT), a core capability for embodied cognition essential for Human-Robot Interaction (HRI). As a first step toward this goal,…

Advancements in large language models (LLMs) have demonstrated their potential in facilitating high-level reasoning, logical reasoning and robotics planning. Recently, LLMs have also been able to generate reward functions for low-level…

We investigate whether Large Language Models (LLMs) exhibit human-like cognitive patterns under four established frameworks from psychology: Thematic Apperception Test (TAT), Framing Bias, Moral Foundations Theory (MFT), and Cognitive…

Humans are going to delegate the rights of driving to the autonomous vehicles in near future. However, to fulfill this complicated task, there is a need for a mechanism, which enforces the autonomous vehicles to obey the road and social…

In recent years, many works have investigated the feasibility of conversational robots for performing specific tasks, such as healthcare and interview. Along with this development comes a practical issue: how should we synthesize robotic…

The dynamic response of the legged robot locomotion is non-Lipschitz and can be stochastic due to environmental uncertainties. To test, validate, and characterize the safety performance of legged robots, existing solutions on observed and…

Robot manipulation policies, while central to the promise of physical AI, are highly vulnerable in the presence of external variations in the real world. Diagnosing these vulnerabilities is hindered by two key challenges: (i) the relevant…

People employ expressive behaviors to effectively communicate and coordinate their actions with others, such as nodding to acknowledge a person glancing at them or saying "excuse me" to pass people in a busy corridor. We would like robots…