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All Outputs (14)

Charting Ethical Tensions in Multispecies Technology Research through Beneficiary-Epistemology Space (2024)
Conference Proceeding
Benford, S., Mancini, C., Chamberlain, A., Schneiders, E., Castle-Green, S., Fischer, J., …Ju, R. F. (in press). Charting Ethical Tensions in Multispecies Technology Research through Beneficiary-Epistemology Space.

While ethical challenges are widely discussed in HCI, far less is reported about the ethical processes that researchers routinely navigate. We reflect on a multispecies project that negotiated an especially complex ethical approval process. Cat Royal... Read More about Charting Ethical Tensions in Multispecies Technology Research through Beneficiary-Epistemology Space.

LABERT: A Combination of Local Aggregation and Self-Supervised Speech Representation Learning for Detecting Informative Hidden Units in Low-Resource ASR Systems (2023)
Conference Proceeding
Fatehi, K., & Kucukyilmaz, A. (2023). LABERT: A Combination of Local Aggregation and Self-Supervised Speech Representation Learning for Detecting Informative Hidden Units in Low-Resource ASR Systems. In Interspeech 2023

With advances in deep learning methodologies, Automatic Speech Recognition (ASR) systems have seen impressive results. However, ASR in Low-Resource Environments (LREs) are challenged by a lack of training data for the specific target domain. We propo... Read More about LABERT: A Combination of Local Aggregation and Self-Supervised Speech Representation Learning for Detecting Informative Hidden Units in Low-Resource ASR Systems.

TAS for Cats: An Artist-led Exploration of Trustworthy Autonomous Systems for Companion Animals (2023)
Conference Proceeding
Schneiders, E., Chamberlain, A., Fischer, J. E., Benford, S., Castle-Green, S., Ngo, V., …Mills, D. (2023). TAS for Cats: An Artist-led Exploration of Trustworthy Autonomous Systems for Companion Animals. In TAS ‘23: Proceedings of The First International Symposium on Trustworthy Autonomous Systems 11-12 July 2023 Edinburgh, UK. https://doi.org/10.1145/3597512.3597517

Cat Royale is an artist-led exploration of trustworthy autonomous systems (TAS) created by the TAS Hub's creative ambassadors Blast Theory. A small community of cats inhabits a purpose built 'cat utopia' at the centre of which a robot arm tries to en... Read More about TAS for Cats: An Artist-led Exploration of Trustworthy Autonomous Systems for Companion Animals.

Resolving conflicts during human-robot co-manipulation (2023)
Conference Proceeding
Al-Saadi, Z., Hamad, Y. M., Aydin, Y., Kucukyilmaz, A., & Basdogan, C. (2023). Resolving conflicts during human-robot co-manipulation. In HRI '23: Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction (243-251). https://doi.org/10.1145/3568162.3576969

This paper proposes a machine learning (ML) approach to detect and resolve motion conflicts that occur between a human and a proactive robot during the execution of a physically collaborative task. We train a random forest classifier to distinguish b... Read More about Resolving conflicts during human-robot co-manipulation.

ScoutWav: Two-Step Fine-Tuning on Self-Supervised Automatic Speech Recognition for Low-Resource Environments (2022)
Conference Proceeding
Fatehi, K., Torres, M. T., & Kucukyilmaz, A. (2022). ScoutWav: Two-Step Fine-Tuning on Self-Supervised Automatic Speech Recognition for Low-Resource Environments. In Proceedings of Interspeech 2022 (3523-3527). https://doi.org/10.21437/Interspeech.2022-10270

Recent improvements in Automatic Speech Recognition (ASR) systems obtain extraordinary results. However, there are specific domains where training data can be either limited or not representative enough, which are known as Low-Resource Environments (... Read More about ScoutWav: Two-Step Fine-Tuning on Self-Supervised Automatic Speech Recognition for Low-Resource Environments.

Nottingham Robotic Mobility Assistant (NoRMA): An Affordable DIY Robotic Wheelchair Platform (2022)
Conference Proceeding
Brand, L. C., & Kucukyilmaz, A. (2022). Nottingham Robotic Mobility Assistant (NoRMA): An Affordable DIY Robotic Wheelchair Platform. In UKRAS22 Conference “Robotics for Unconstrained Environments” Proceedings. https://doi.org/10.31256/Kv8Ps6P

A significant portion of the population requires a wheelchair to improve mobility, independence, and dignity but not all users are able to use a traditional manual one. Powered wheelchairs offer a more effortless experience but still present difficul... Read More about Nottingham Robotic Mobility Assistant (NoRMA): An Affordable DIY Robotic Wheelchair Platform.

Push-to-See: Learning Non-Prehensile Manipulation to Enhance Instance Segmentation via Deep Q-Learning (2022)
Conference Proceeding
Serhan, B., Pandya, H., Kucukyilmaz, A., & Neumann, G. (2022). Push-to-See: Learning Non-Prehensile Manipulation to Enhance Instance Segmentation via Deep Q-Learning. In IEEE International Conference on Robotics and Automation (ICRA 2022) (1513-1519). https://doi.org/10.1109/ICRA46639.2022.9811645

Efficient robotic manipulation of objects for sorting and searching often rely upon how well the objects are perceived and the available grasp poses. The challenge arises when the objects are irregular, have similar visual features (e.g., textureless... Read More about Push-to-See: Learning Non-Prehensile Manipulation to Enhance Instance Segmentation via Deep Q-Learning.

Intent-Aware Predictive Haptic Guidance and its Application to Shared Control Teleoperation (2021)
Conference Proceeding
Ly, K. T., Poozhiyil, M., Pandya, H., Neumann, G., & Kucukyilmaz, A. (2021). Intent-Aware Predictive Haptic Guidance and its Application to Shared Control Teleoperation. In 2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN) (565-572). https://doi.org/10.1109/RO-MAN50785.2021.9515326

This paper presents a haptic shared control paradigm that modulates the level of robotic guidance, based on predictions of human motion intentions. The proposed method incorporates robot trajectories learned from human demonstrations and dynamically... Read More about Intent-Aware Predictive Haptic Guidance and its Application to Shared Control Teleoperation.

The Goods and Bads in Dyadic Co-Manipulation: Identifying Conflict-Driven Interaction Behaviours in Human-Human Collaboration (2020)
Conference Proceeding
Issak, I., & Kucukyilmaz, A. (2020). The Goods and Bads in Dyadic Co-Manipulation: Identifying Conflict-Driven Interaction Behaviours in Human-Human Collaboration. In UKRAS20 Conference: “Robots into the real world”: proceedings: UKRAS20 Conference Proceedings: 17th April 2020 (37-39). https://doi.org/10.31256/Fv3Gn1L

One of the challenges in collaborative human-robot object transfer is the robot’s ability to infer about the interaction state and adapt to it in real time. During joint object transfer humans communicate about the interaction states through mul- tip... Read More about The Goods and Bads in Dyadic Co-Manipulation: Identifying Conflict-Driven Interaction Behaviours in Human-Human Collaboration.

VR-Fit: Walking-in-Place Locomotion with Real Time Step Detection for VR-Enabled Exercise (2019)
Conference Proceeding
Sari, S., & Kucukyilmaz, A. (2019). VR-Fit: Walking-in-Place Locomotion with Real Time Step Detection for VR-Enabled Exercise. In I. Awan, M. Younas, P. Ünal, & M. Aleksy (Eds.), In Mobile Web and Intelligent Information Systems (255-266). https://doi.org/10.1007/978-3-030-27192-3_20

With recent advances in mobile and wearable technologies, virtual reality (VR) found many applications in daily use. Today, a mobile device can be converted into a low-cost immersive VR kit thanks to the availability of do-it-yourself viewers in the... Read More about VR-Fit: Walking-in-Place Locomotion with Real Time Step Detection for VR-Enabled Exercise.

One-shot assistance estimation from expert demonstrations for a shared control wheelchair system (2015)
Conference Proceeding
Kucukyilmaz, A., & Demiris, Y. (2015). One-shot assistance estimation from expert demonstrations for a shared control wheelchair system. https://doi.org/10.1109/roman.2015.7333600

An emerging research problem in the field of assistive robotics is the design of methodologies that allow robots to provide human-like assistance to the users. Especially within the rehabilitation domain, a grand challenge is to program a robot to mi... Read More about One-shot assistance estimation from expert demonstrations for a shared control wheelchair system.

Conveying intentions through haptics in human-computer collaboration (2011)
Conference Proceeding
Kucukyilmaz, A., Sezgin, T. M., & Basdogan, C. (2011). Conveying intentions through haptics in human-computer collaboration. In 2011 IEEE World Haptics Conference. https://doi.org/10.1109/whc.2011.5945523

Haptics has been used as a natural way for humans to communicate with computers in collaborative virtual environments. Human-computer collaboration is typically achieved by sharing control of the task between a human and a computer operator. An impor... Read More about Conveying intentions through haptics in human-computer collaboration.

Haptic negotiation and role exchange for collaboration in virtual environments (2010)
Conference Proceeding
Oguz, S. O., Kucukyilmaz, A., Sezgin, T. M., & Basdogan, C. (2010). Haptic negotiation and role exchange for collaboration in virtual environments. https://doi.org/10.1109/haptic.2010.5444628

We investigate how collaborative guidance can be realized in multi-modal virtual environments for dynamic tasks involving motor control. Haptic guidance in our context can be defined as any form of force/tactile feedback that the computer generates t... Read More about Haptic negotiation and role exchange for collaboration in virtual environments.