相关论文: A Multimodal Data Collection Framework for Dialogu…

Current Human-Robot Interaction (HRI) systems for skill teaching are fragmented, and existing approaches in the literature do not offer a cohesive framework that is simultaneously efficient, intuitive, and universally safe. This paper…

Knowledge graphs are often used to represent structured information in a flexible and efficient manner, but their use in situated dialogue remains under-explored. This paper presents a novel conversational model for human--robot interaction…

As robots transition from controlled settings to unstructured human environments, building generalist agents that can reliably follow natural language instructions remains a central challenge. Progress in robust mobile manipulation requires…

Engagement estimation plays a crucial role in understanding human social behaviors, attracting increasing research interests in fields such as affective computing and human-computer interaction. In this paper, we propose a Dialogue-Aware…

This paper presents a novel framework for accessible and pedagogically-grounded robot explainability, designed to support human-robot interaction (HRI) with users who have diverse cognitive, communicative, or learning needs. We combine…

Development of task guidance systems for aiding humans in a situated task remains a challenging problem. The role of search (information retrieval) and conversational systems for task guidance has immense potential to help the task…

In this paper, we introduce an extension of our presented cognitive-based emotion model [27][28]and [30], where we enhance our knowledge-based emotion unit of the architecture by embedding a fuzzy rule-based system to it. The model utilizes…

Work environments are often inadequate and lack inclusivity for individuals with upper-body disabilities. This paper presents a novel online framework for adaptive human-robot interaction (HRI) that accommodates users' arm mobility…

One of the difficulties in training dialogue systems is the lack of training data. We explore the possibility of creating dialogue data through the interaction between a dialogue system and a user simulator. Our goal is to develop a…

This abstract presents a scenario for human-robot action in a home setting involving an older adult and a robot. The scenario is designed to explore the envisioned modelling of memory for communication with a socially assistive robots…

As humanoid robots increasingly introduced into social scene, achieving emotionally synchronized multimodal interaction remains a significant challenges. To facilitate the further adoption and integration of humanoid robots into service…

Semantic Machines (SM) have introduced the use of the dataflow (DF) paradigm to dialogue modelling, using computational graphs to hierarchically represent user requests, data, and the dialogue history [Semantic Machines et al. 2020].…

This paper describes an initiation of interaction(IoI) detection framework without keywords for human-robot interaction(HRI) based on audio and vision sensor fusion in a domestic environment. In the proposed framework, the robot has its own…

Creating high-quality annotated data for task-oriented dialog (ToD) is known to be notoriously difficult, and the challenges are amplified when the goal is to create equitable, culturally adapted, and large-scale ToD datasets for multiple…

As robots enter human workspaces, there is a crucial need for them to comprehend embodied human instructions, enabling intuitive and fluent human-robot interaction (HRI). However, accurate comprehension is challenging due to a lack of…

Bimanual robotic manipulation is an emerging and critical topic in the robotics community. Previous works primarily rely on integrated control models that take the perceptions and states of both arms as inputs to directly predict their…

Task-oriented dialogue (TOD) models have made significant progress in recent years. However, previous studies primarily focus on datasets written by annotators, which has resulted in a gap between academic research and real-world spoken…

Teaching machines to accomplish tasks by conversing naturally with humans is challenging. Currently, developing task-oriented dialogue systems requires creating multiple components and typically this involves either a large amount of…

We study human-robot handovers in a naturalistic collaboration scenario, where a mobile manipulator robot assists a person during a crafting session by providing and retrieving objects used for wooden piece assembly (functional activities)…

This paper addresses the limitations of current humanoid robot control frameworks, which primarily rely on reactive mechanisms and lack autonomous interaction capabilities due to data scarcity. We propose Humanoid-VLA, a novel framework…