Aaron St. Clair

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We detail an approach to planning effective verbal feedback during pairwise human-robot task collaboration. The approach is motivated by social science literature as well as existing work in robotics and is applicable to a variety of task scenarios. It consists of a dynamic, synthetic task implemented in an augmented reality environment. The result is(More)
In many collocated human-robot interaction scenarios, robots are required to accurately and unambiguously indicate an object or point of interest in the environment. Realistic, cluttered environments containing many visually salient targets can present a challenge for the observer of such pointing behavior. In this paper, we describe an experiment and(More)
New approaches to rehabilitation and health care have developed due to advances in technology and human robot interaction (HRI). Socially assistive robotics (SAR) is a subcategory of HRI that focuses on providing assistance through hands-off interactions. We have developed a SAR architecture that facilitates multiple task-oriented interactions between a(More)
Effective communication is often required for agents to properly handle collaborative multi-agent tasks. This is particularly true when humans are working alongside synthetic agents and traditional wireless communication modes are impractical. A framework for communication must allow for both explicit communication, where actions are directly execute to(More)
In most environments, task collaboration requires efficient, flexible communication between collaborators. In the case of tasks involving human-robot collaboration, the robot must effectively convey and interpret communicative actions about the current and intended state of the task environment and coordinate its behavior with those of its collaborators,(More)
We present an overview of the control, recognition, decision-making, and learning techniques utilized by the Interaction Lab (robotics.usc.edu/interaction) at the University of Southern California (USC) to enable autonomy in sociable and socially assistive robots. These techniques are implemented with two software libraries: 1) the Social Behavior Library(More)
This short paper motivates the use of robot verbal feedback in human-robot task collaboration scenarios and presents results from a pilot study aimed at identifying how people use speech to coordinate their actions with each other on a dynamic, collaborative task. From these results, three types of verbal feedback are identified as well as requirements for(More)
—In this paper we consider a method of increasing team fluency in co-located human-robot task collaboration. In such scenarios, the robot can use explicit communication actions to convey internal state and intention, thus providing the collaborating partner with more information than s/he could glean from observation of a robot that does not communicate. We(More)