19 accepted papers
We contribute Bi3, a dataset of social robot navigation among groups of people in a constrained lab space. Compared to prior data collection efforts for social robot navigation, our dataset is unique in that it features: an original experiment design giving rise to close navigation encounters betwee…
Task and Motion Planning (TAMP) is a computationally challenging robotics problem due to the tight coupling of discrete symbolic planning and continuous geometric planning of robot motions. In particular, planning manipulation tasks in complex 3D environments leads to a large number of costly geomet…
Despite important progress in recent years, social robots are still far away from showing advanced behavior for interaction and adaptation in human environments. Thus, we are interested in studying social cognition in human-robot interaction (HRI), notably in improving communication skills relying o…
The hybrid discrete/continuous nature of task and motion planning (TAMP) results often in a combinatorial explosion. This challenge is even more pronounced in multi-robot TAMP problems due to the increase in dimensionality of the action space. Previous works use action feasibility prediction as a he…
In Task and motion planning (TAMP), symbolic search is combined with continuous geometric planning. A task planner finds an action sequence while a motion planner checks its feasibility and plans the corresponding sequence of motions. However, due to the high combinatorial complexity of discrete sea…
In human-robot collaboration, the objectives of the human are often unknown to the robot. Moreover, even assuming a known objective, the human behavior is also uncertain. In order to plan a robust robot behavior, a key preliminary question is then: How to derive realistic human behaviors given a kno…
In this paper, we address task and motion plan-ning (TAMP) which is an important yet challenging robotics problem. It is known to suffer from the high combinatorial complexity of discrete search, often requiring a large number of geometric planning calls. We build upon recent works in TAMP by taking…
Coexisting with others and interacting in society implies sharing knowledge and attention about world objects, events, features, episodes, and even imagination or abstract ideas in time and space. Inspired by human phenomenological, cognitive and behavioral research, this work focuses on the study o…
The variety and complexity of tasks autonomous robots can tackle is constantly increasing, yet we seldom see robots collaborating with humans. Indeed, humans are either requested for punctual help or are given the lead on the whole task. We propose a human-aware task planning approach allowing the r…
The use of drones in human-populated areas is increasing day by day. Such robots flying in close proximity to humans and potentially interacting with them, as in object handover or delivery, need to carefully plan their navigation considering the presence of humans. We propose a humanaware 3D reacti…
Current approaches in human-aware or social robot navigation address the humans that are visible to the robot. However, it is also important to address the possible emergences of humans to avoid shocks or surprises to humans and erratic behavior of the robot planner. In this paper, we propose a nove…
Being able to refer to an object, a person, or a place in a non-ambiguous manner is a need when one has to achieve collaborative activities with a partner. This is the so-called Referring Expression Generation (REG) problem. While widely used for Human-Robot Interaction, state of the art approaches…
As more robots are being deployed into human environments, a human-aware navigation planner needs to handle multiple contexts that occur in indoor and outdoor environments. In this paper, we propose a tunable human-aware robot navigation planner that can handle a variety of human-robot contexts. We…
Reasoning about spatial and geometric relations between objects in a tabletop human-robot interaction is a challenge due to the perception not being always consistent: objects placed on a table seem to be slightly in the air; they overlap; they disappear due to occlusions. Yet, interpreting and anch…
We introduce UNDERWORLDS, a novel lightweight framework for cascading spatio-temporal situation assessment in robotics. UNDERWORLDS allows programmers to represent the robot's environment as real-time distributed data structures, containing both scene graphs (for representation of 3D geometries) and…
We are combining symbolic and geometric planning to synthesize human-aware plans in order to deal with the complex and highly intricate planning problems induced by Human-Robot collaborative object manipulation. In this paper, we summarize our previous contributions - refining symbolic actions at ge…
The overall performance of sampling-based motion planning algorithms strongly depends on the use of suitable sampling and connection strategies, as well as on the accuracy of the distance metric considered to select neighbor states. Defining appropriate strategies and metrics is particularly hard wh…
Exchanging objects with humans through hand-overs is a key feature for any robot operating side by side with humans. The studies on the topic tackle various problems, such as the hand dexterity, the communication cues, the arms motions, the forces, the head motions, but most of them consider a hando…
HTN planners have generally relied on specialised languages for domain and problem representations. To facilitate adoption by other communities such as robotics, however, and integration with real world applications written in standard programming languages, we need HTN planners that are based on mo…