Anaís Garrell

Javier Laplaza, Joan Jaume Oliver, Ramón Romero et al.

In this work, we propose a gesture based language to allow humans to interact with robots using their body in a natural way. We have created a new gesture detection model using neural networks and a custom dataset of humans performing a set of body gestures to train our network. Furthermore, we compare body gesture communication with other communication channels to acknowledge the importance of adding this knowledge to robots. The presented approach is extensively validated in diverse simulations and real-life experiments with non-trained volunteers. This attains remarkable results and shows that it is a valuable framework for social robotics applications, such as human robot collaboration or human-robot interaction.

Ferran Gebellí, Anaís Garrell, Jan-Gerrit Habekost et al.

In the field of Human-Robot Interaction (HRI), a fundamental challenge is to facilitate human understanding of robots. The emerging domain of eXplainable HRI (XHRI) investigates methods to generate explanations and evaluate their impact on human-robot interactions. Previous works have highlighted the need to personalise the level of detail of these explanations to enhance usability and comprehension. Our paper presents a framework designed to update and retrieve user knowledge-memory models, allowing for adapting the explanations' level of detail while referencing previously acquired concepts. Three architectures based on our proposed framework that use Large Language Models (LLMs) are evaluated in two distinct scenarios: a hospital patrolling robot and a kitchen assistant robot. Experimental results demonstrate that a two-stage architecture, which first generates an explanation and then personalises it, is the framework architecture that effectively reduces the level of detail only when there is related user knowledge.

Marc Dalmasso, Anaís Garrell, Pablo Jiménez et al.

This paper proposes a Social Reward Sources (SRS) design for a Human-Robot Collaborative Navigation (HRCN) task: human-robot collaborative search. It is a flexible approach capable of handling the collaborative task, human-robot interaction and environment restrictions, all integrated on a common environment. We modelled task rewards based on unexplored area observability and isolation and evaluated the model through different levels of human-robot communication. The models are validated through quantitative evaluation against both agents' individual performance and qualitative surveying of participants' perception. After that, the three proposed communication levels are compared against each other using the previous metrics.