Stefanos Nikolaidis

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We design and evaluate human-robot cross-training, a strategy widely used and validated for effective human team training. Cross-training is an interactive planning method in which a human and a robot iteratively switch roles to learn a shared plan for a collaborative task. We first present a computational formulation of the robot's interrole knowledge and(More)
We present a framework for automatically learning human user models from joint-action demonstrations that enables a robot to compute a robust policy for a collaborative task with a human. First, the demonstrated action sequences are clustered into different human types using an unsupervised learning algorithm. A reward function is then learned for each type(More)
In this paper, we propose an object localization method for home environments. This method utilizes RFID equipments, a mobile robot and some ceiling cameras. The RFID system estimates a rough position of each object. The autonomous robot with RFID antennas explores the environment so as to detect other objects on the floor. Each object that is attached an(More)
—Human-robot collaboration presents an opportunity to improve the efficiency of manufacturing and assembly processes , particularly for aerospace manufacturing where tight integration and variability in the build process make physical isolation of robotic-only work challenging. In this paper, we develop a robotic scheduling and control capability that(More)
New industrial robotic systems that operate in the same physical space as people highlight the emerging need for robots that can integrate seamlessly into human group dynamics. In this paper we build on our prior investigation, which evaluates the convergence of a robot computational teaming model and a human teammate's mental model, by computing the(More)
This paper describes an approach on real-time performance 3D visualization in the context of music education. A tool is described that produces sound visualizations during a student performance that are intuitively linked to common mistakes frequently observed in the performances of novice to intermediate students. The paper discusses the case of clarinet(More)
In the near future robots will be used in home environments to provide assistance for the elderly and challenged people. The arrangement of sensors influences greatly the quality of information provided to the robot. We, therefore, examine the problem of the optimal arrangement of vision sensors for the case of a robot following a pre-defined path. A(More)
—Mutual adaptation is critical for effective team collaboration. This paper presents a formalism for human-robot mutual adaptation in collaborative tasks. We propose the bounded-memory adaptation model (BAM), which captures human adaptive behaviors based on a bounded memory assumption. We integrate BAM into a partially observable stochastic model, which(More)
Robots are increasingly introduced to work in concert with people in high-intensity domains , such as manufacturing, space exploration and hazardous environments. Although there are numerous studies on human teamwork and coordination in these settings, very little prior work exists on applying these models to human-robot interaction. In this paper we(More)