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Among the many anticipated roles for robots in the future is that of being a human teammate. Aside from all the technological hurdles that have to be overcome with respect to hardware and control to make robots fit to work with humans, the…

We consider the problem of completing a set of $n$ tasks with a human-robot team using minimum effort. In many domains, teaching a robot to be fully autonomous can be counterproductive if there are finitely many tasks to be done. Rather,…

For a team of heterogeneous robots executing multiple tasks, we propose a novel algorithm to optimally allocate tasks to robots while accounting for their different capabilities. Motivated by the need that robot teams have in many…

Historically, much of machine learning research has focused on the performance of the algorithm alone, but recently more attention has been focused on optimizing joint human-algorithm performance. Here, we analyze a specific type of…

We focus on the problem of designing an artificial agent (AI), capable of assisting a human user to complete a task. Our goal is to guide human users towards optimal task performance while keeping their cognitive load as low as possible.…

While research on human-AI collaboration exists, it mainly examined language learning and used traditional counting methods with little attention to evolution and dynamics of collaboration on cognitively demanding tasks. This study examines…

The specification of the action space plays a pivotal role in imitation-based robotic manipulation policy learning, fundamentally shaping the optimization landscape of policy learning. While recent advances have focused heavily on scaling…

Equipped with Large Language Models (LLMs), human-centered robots are now capable of performing a wide range of tasks that were previously deemed challenging or unattainable. However, merely completing tasks is insufficient for cognitive…

In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy…

As the number of robots in our daily surroundings like home, office, restaurants, factory floors, etc. are increasing rapidly, the development of natural human-robot interaction mechanism becomes more vital as it dictates the usability and…

This article surveys the literature on human-robot object handovers. A handover is a collaborative joint action where an agent, the giver, gives an object to another agent, the receiver. The physical exchange starts when the receiver first…

A central question for the future of work is whether person centered management can survive when algorithms take on managerial roles. Standard tools often miss what is happening because worker responses to algorithmic systems are rarely…

This paper presents a comprehensive framework to enhance Human-Robot Collaboration (HRC) in real-world scenarios. It introduces a formalism to model articulated tasks, requiring cooperation between two agents, through a smaller set of…

Human-robot collaboration has benefited users with higher efficiency towards interactive tasks. Nevertheless, most collaborative schemes rely on complicated human-machine interfaces, which might lack the requisite intuitiveness compared…

Robot manipulation is an important part of human-robot interaction technology. However, traditional pre-programmed methods can only accomplish simple and repetitive tasks. To enable effective communication between robots and humans, and to…

Robot allocation plays an essential role in facilitating robotic service provision across various domains. Yet the increasing number of users and the uncertainties regarding the users' true service requirements have posed challenges for the…

In this work, we develop a game-theoretic modeling of the interaction between a human operator and an autonomous decision aid when they collaborate in a multi-agent task allocation setting. In this setting, we propose a decision aid that is…

Design optimizations in human-AI collaboration often focus on cognitive aspects like attention and task load. Drawing on work design literature, we propose that effective human-AI collaboration requires broader consideration of human needs…

To rationalize the relatively high investment that industrial automation systems entail, research in the field of intelligent machines should target high value functions such as fettling, die-finishing, deburring, and fixtureless…

Robots are used by humans not only as tools but also to interactively assist and cooperate with humans, thereby forming physical human-robot interactions. In these interactions, there is a risk that a feedback loop causes unstable force…