11 papers
HoRD: Robust Humanoid Control via History-Conditioned Reinforcement Learning and Online Distillation
Puyue Wang, Jiawei Hu, Yan Gao +7
Humanoid robots can suffer significant performance drops under small changes in dynamics, task specifications, or environment setup. We propose HoRD, a two-stage learning framework…
Modelling Visuo-Haptic Perception Change in Size Estimation Tasks
Jian Zhang, Wafa Johal, Jarrod Knibbe
Tangible interactions involve multiple sensory cues, enabling the accurate perception of object properties, such as size. Research has shown, however, that if we decouple these cue…
From Conversation to Orchestration: HCI Challenges and Opportunities in Interactive Multi-Agentic Systems
Sarah Schömbs, Yan Zhang, Jorge Goncalves +1
Recent advances in multi-agentic systems (e.g. AutoGen, OpenAI Swarm) allow users to interact with a group of specialised AI agents rather than a single general-purpose agent. Desp…
Going Down the Abstraction Stream with Augmented Reality and Tangible Robots: the Case of Vector Instruction
Sergei Volodin, Hala Khodr, Pierre Dillenbourg +1
Despite being used in many engineering and scientific areas such as physics and mathematics and often taught in high school, graphical vector addition turns out to be a topic prone…
Illusion Spaces in VR: The Interplay Between Size and Taper Angle Perception in Grasping
Jian Zhang, Wafa Johal, Jarrod Knibbe
Leveraging the integration of visual and proprioceptive cues, research has uncovered various perception thresholds in VR that can be exploited to support haptic feedback for graspi…
Real-Time Detection of Robot Failures Using Gaze Dynamics in Collaborative Tasks
Ramtin Tabatabaei, Vassilis Kostakos, Wafa Johal
Detecting robot failures during collaborative tasks is crucial for maintaining trust in human-robot interactions. This study investigates user gaze behaviour as an indicator of rob…