Publications
Embodied Intelligence
Social Intelligence
Thesis/Book
Journal Article
Conference Paper
Workshop Paper

2025

Toward Human-Inspired AI: Identifying Data, Building Structures, and Hypothesis-Driven Learning

Stéphane Aroca-Ouellette
PhD dissertation

Thesis/Book SOCIAL INTELLIGENCE 2025 University of Colorado Boulder PDF BIB

Gaze-informed signatures of trust and collaboration in human-autonomy teams

Anthony J. Ries, Stéphane Aroca-Ouellette, Alessandro Roncone, Ewart J. de Visser

Journal Article SOCIAL INTELLIGENCE 2025 Computers in Human Behavior: Artificial Humans PDF BIB

ReSeeding Latent States for Sequential Language Understanding

Stéphane Aroca-Ouellette, Katharina von der Wense, Alessandro Roncone

Conference Paper SOCIAL INTELLIGENCE 2025 Conference on Empirical Methods in Natural Language Processing [EMNLP] PDF BIB

Dynamics-Compliant Trajectory Diffusion for Super-Nominal Payload Manipulation

Anuj Pasricha, Joewie Koh, Jay Vakil, Alessandro Roncone

Conference Paper EMBODIED INTELLIGENCE 2025 Conference on Robot Learning [CoRL] PDF BIB

Implicitly Aligning Humans and Autonomous Agents through Shared Task Abstractions

Stéphane Aroca-Ouellette, Miguel Aroca-Ouellette, Katharina von der Wense, Alessandro Roncone

Conference Paper SOCIAL INTELLIGENCE 2025 International Joint Conference on Artificial Intelligence [IJCAI] PDF BIB

GenTact Toolbox: A Computational Design Pipeline to Procedurally Generate Context-Driven 3D Printed Whole-Body Artificial Skins

Carson Kohlbrenner, Caleb Escobedo, S. Sandra Bae, Alexander Dickhans, Alessandro Roncone

Conference Paper EMBODIED INTELLIGENCE 2025 IEEE International Conference on Robotics and Automation [ICRA] PDF BIB URL

Employing Laban Shape for Generating Emotionally and Functionally Expressive Trajectories in Robotic Manipulators

Srikrishna Bangalore Raghu, Clare Lohrmann, Akshay Bakshi, Jennifer Kim, Jose Caraveo Herrera, Bradley Hayes, Alessandro Roncone

Conference Paper SOCIAL INTELLIGENCE 2025 International Conference on Robot and Human Interactive Communication [RO-MAN] PDF BIB

Form-Fitting, Large-Area Sensor Mounting for Obstacle Detection

Anna Soukhovei, Carson Kohlbrenner, Caleb Escobedo, Alexander Gholmieh, Alexander Dickhans, and Alessandro Roncone

Workshop Paper EMBODIED INTELLIGENCE 2025 Humanoids Workshop on Advances in Contact-Rich Robotics: Rich Tactile-Based Physical Interaction [ConRich] PDF BIB

CRED: Counterfactual Reasoning and Environment Design for Active Preference Learning

Yi-Shiuan Tung, Bradley Hayes, Alessandro Roncone

Workshop Paper SOCIAL INTELLIGENCE 2025 RSS Workshop on Human-in-the-Loop Robot Learning: Teaching, Correcting, and Adapting PDF BIB

Towards Zero-Shot Coordination between Teams of Agents: The N-XPlay Framework

Ava Abderezaei, Chi-Hui Lin, Joseph Miceli, Naren Sivagnanadasan, Stéphane Aroca-Ouellette, Jake Brawer, Alessandro Roncone

Workshop Paper SOCIAL INTELLIGENCE 2025 RSS Workshop on Scalable and Resilient Multi-Robot Systems: Decision-Making, Coordination, and Learning PDF BIB

2024

HARMONIOUS – Human-Like Reactive Motion Control and Multimodal Perception for Humanoid Robots

Jakub Rozlivek, Alessandro Roncone, Ugo Pattacini, and Matej Hoffmann

Journal Article EMBODIED INTELLIGENCE 2024 IEEE Transactions on Robotics [T-RO] PDF BIB

Generating Pattern-Based Conventions for Predictable Planning in Human-Robot Collaboration

Clare Lohrmann, Maria Stull, Alessandro Roncone, Bradley Hayes

Journal Article SOCIAL INTELLIGENCE 2024 ACM Transactions on Human-Robot Interaction [THRI] PDF BIB

Exploring How Non-Prehensile Manipulation Expands Capability in Robots Experiencing Multi-Joint Failure

Gilberto Briscoe-Martinez, Anuj Pasricha, Ava Abderezaei, Santosh Chaganti, Sarath Chandra Vajrala, Sri Kanth Popuri, and Alessandro Roncone

Conference Paper EMBODIED INTELLIGENCE 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems [IROS] PDF BIB

Clutter-Aware Spill-Free Liquid Transport via Learned Dynamics

Ava Abderezaei, Anuj Pasricha, Alex Klausenstock, Alessandro Roncone

Conference Paper EMBODIED INTELLIGENCE 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems [IROS] PDF BIB

Eyes on the Game: Deciphering Implicit Human Signals to Infer Human Proficiency, Trust, and Intent

Nikhil Hulle, Stéphane Aroca-Ouellette, Anthony J. Ries, Jake Brawer, Katharina von der Wense, Alessandro Roncone

Conference Paper SOCIAL INTELLIGENCE 2024 IEEE International Conference on Robot and Human Interactive Communication [RO-MAN] PDF BIB

ROMA-iQSS: An Objective Alignment Approach via State-Based Value Learning and ROund-Robin Multi-Agent Scheduling

Chi-Hui Lin, Joewie J. Koh, Alessandro Roncone, Lijun Chen

Oral presentation

Conference Paper EMBODIED INTELLIGENCE 2024 American Control Conference [ACC] PDF BIB

The Virtues of Laziness: Multi-Query Kinodynamic Motion Planning with Lazy Methods

Anuj Pasricha, Alessandro Roncone

Conference Paper EMBODIED INTELLIGENCE 2024 IEEE International Conference on Robotics and Automation [ICRA] PDF BIB

Workspace Optimization Techniques to Improve Prediction of Human Motion During Human-Robot Collaboration

Yi-Shiuan Tung, Matthew B. Luebbers, Alessandro Roncone, Bradley Hayes

Best Technical Paper Nominee!!

Conference Paper SOCIAL INTELLIGENCE 2024 ACM/IEEE International Conference on Human-Robot Interaction [HRI] PDF BIB

A Machine Learning Approach to Contact Localization in Variable Density Three-Dimensional Tactile Artificial Skin

Carson Kohlbrenner, Mitchell Murray, Yutong Zhang, Caleb Escobedo, Thomas Dunnington, Nolan Stevenson, Nikolaus Correll, Alessandro Roncone

Workshop Paper EMBODIED INTELLIGENCE 2024 NeurIPS Workshop on Touch Processing: From Data to Knowledge PDF BIB

Towards Super-Nominal Payload Handling: Inverse Dynamics Analysis for Multi-Skill Robotic Manipulation

Anuj Pasricha and Alessandro Roncone

Workshop Paper EMBODIED INTELLIGENCE 2024 40th Anniversary of the IEEE Conference on Robotics and Automation [ICRA@40] PDF BIB

Improving Robot Predictability via Trajectory Optimization Using a Virtual Reality Testbed

Clare Lohrmann, Ethan Berg, Bradley Hayes, Alessandro Roncone

Workshop Paper SOCIAL INTELLIGENCE 2024 HRI Workshop on Virtual, Augmented, and Mixed-Reality [VAM-HRI] PDF BIB

Causal Influence Detection for Human Robot Interaction

Yi-Shiuan Tung, Himanshu Gupta, Wei Jiang, Bradley Hayes, Alessandro Roncone

Workshop Paper SOCIAL INTELLIGENCE 2024 HRI Workshop on Causal Learning for Human-Robot Interaction PDF BIB

Stereoscopic Virtual Reality Teleoperation for Human Robot Collaborative Dataset Collection

Yi-Shiuan Tung, Matthew B. Luebbers, Alessandro Roncone, Bradley Hayes

Workshop Paper SOCIAL INTELLIGENCE 2024 HRI Workshop on Virtual, Augmented, and Mixed-Reality [VAM-HRI] PDF BIB

2023

CAT-RRT: Motion Planning that Admits Contact One Linke at a Time

Nataliya Nechyporenko, Caleb Escobedo, Shreyas Kadekodi, Alessandro Roncone

Conference Paper EMBODIED INTELLIGENCE 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems [IROS] PDF BIB

Hierarchical Reinforcement Learning for Ad Hoc Teaming

Stéphane Aroca-Ouellette, Miguel Aroca-Ouellette, Upasana Biswas, Katharina Kann, Alessandro Roncone
Extended abstract

Conference Paper SOCIAL INTELLIGENCE 2023 International Conference on Autonomous Agents and Multiagent Systems [AAMAS] PDF BIB

Interactive Policy Shaping for Human-Robot Collaboration with Transparent Matrix Overlays

Jake Brawer, Debasmita Ghose, Kate Candon, Meiying Qin, Alessandro Roncone, Marynel Vázquez, and Brian Scassellati

Best Technical Paper Award!!

Conference Paper SOCIAL INTELLIGENCE 2023 ACM/IEEE International Conference on Human-Robot Interaction [HRI] PDF BIB

Towards A Natural Language Interface For Flexible Multi-Agent Task Assignment

Jake Brawer, Kayleigh Bishop, Bradley Hayes, Alessandro Roncone

Workshop Paper SOCIAL INTELLIGENCE 2023 AAAI Fall Symposium on Artificial Intelligence for Human-Robot Interaction [AI-HRI] PDF BIB

Improving Human Legibility in Collaborative Robot Tasks through Augmented Reality and Workspace Preparation

Yi-Shiuan Tung, Matthew B. Luebbers, Alessandro Roncone, Bradley Hayes

Workshop Paper SOCIAL INTELLIGENCE 2023 HRI Workshop on Virtual, Augmented, and Mixed-Reality [VAM-HRI] PDF BIB

Designing an AI Partner for Jigsaw classrooms

Jie Cao, Rachel Dickler, Marie Grace, Jeffrey B. Bush, Alessandro Roncone, Leanne M. Hirshfield, Marilyn A. Walker, Martha S. Palmer

Workshop Paper SOCIAL INTELLIGENCE 2023 Workshop on Language-Based AI Agent Interaction with Children [AIAIC] PDF BIB

2022

Introduction to Autonomous Robots: Mechanisms, Sensors, Actuators, and Algorithms

Nikolaus Correll, Bradley Hayes, Christoffer Heckman and Alessandro Roncone

Thesis/Book EMBODIED INTELLIGENCE 2022 MIT Press Code

PokeRRT: Poking as a Skill and Failure Recovery Tactic for Planar Non-Prehensile Manipulation

Anuj Pasricha, Yi-Shiuan Tung, Bradley Hayes, Alessandro Roncone

Journal Article EMBODIED INTELLIGENCE 2022 IEEE Robotics Automation and Letters [RA-L] + ICRA PDF BIB

How to be Helpful? Supportive Behaviors and Personalization for Human-Robot Collaboration

Olivier Mangin, Alessandro Roncone, and Brian Scassellati

Journal Article SOCIAL INTELLIGENCE 2022 Frontiers in Robotics and AI PDF BIB

Real-Time Motion Control of Robotic Manipulators for Safe Human-Robot Coexistence

Kelly Merckaert, Bryan Convens, Chi-ju Wu, Alessandro Roncone, Marco M Nicotra, and Bram Vanderborght

Journal Article EMBODIED INTELLIGENCE 2022 Robotics and Computer-Integrated Manufacturing PDF BIB

A Framework for the Systematic Evaluation of Obstacle Avoidance and Object-Aware Controllers

Caleb Escobedo, Nataliya Nechyporenko, Shreyas Kadekodi, Alessandro Roncone

Conference Paper EMBODIED INTELLIGENCE 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems [IROS] PDF BIB

Bilevel Optimization for Just-in-Time Robotic Kitting and Delivery via Adaptive Task Segmentation and Scheduling

Yi-Shiuan Tung, Kayleigh Bishop, Bradley Hayes, Alessandro Roncone

Conference Paper SOCIAL INTELLIGENCE 2022 IEEE International Conference on Robot & Human Interactive Communication [RO-MAN] PDF BIB

Open-Domain Dialogue Generation: What We Can Do, Cannot Do, And Should Do Next

Katharina Kann, Abteen Ebrahimi, Joewie J. Koh, Shiran Dudy, Alessandro Roncone

Workshop Paper SOCIAL INTELLIGENCE 2022 Workshop on Natural Language Processing for Conversational AI @ ACL 2022 PDF BIB

2021

Multi-agent Reinforcement Learning as Applied to Autonomous Systems

Guohui Ding
PhD dissertation

Thesis/Book EMBODIED INTELLIGENCE 2021 University of Colorado Boulder

The World of an Octopus: How Reporting Bias Influences a Language Model’s Perception of Color

Cory Paik, Stéphane Aroca-Ouellette, Alessandro Roncone, Katharina Kann

Conference Paper EMBODIED INTELLIGENCE 2021 Proceedings of the 2021 Conference on Empirical Methods in Natural Language Processing PDF BIB

Contact Anticipation for Physical Human-Robot Interaction with Robotic Manipulators using Onboard Proximity Sensors

Caleb Escobedo, Matthew Strong, Mary West, Ander Aramburu, Alessandro Roncone

Conference Paper EMBODIED INTELLIGENCE 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems [IROS] PDF BIB

Self-Contained Kinematic Calibration of a Novel Whole-Body Artificial Skin for Human-Robot Collaboration

Kandai Watanabe, Matthew Strong, Mary West, Caleb Escobedo, Ander Aramburu, Krishna Chaitanya Kodur, Alessandro Roncone

Conference Paper EMBODIED INTELLIGENCE 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems [IROS] PDF BIB

PROST: Physical Reasoning of Objects through Space and Time

Stéphane Aroca-Ouellette, Cory Paik, Alessandro Roncone, and Katharina Kann

Conference Paper EMBODIED INTELLIGENCE 2021 Findings of the Association for Computational Linguistics PDF BIB

PokeRRT: A Kinodynamic Planning Approach for Poking Manipulation

Anuj Pasricha, Yi-Shiuan Tung, Bradley Hayes, Alessandro Roncone

Workshop Paper EMBODIED INTELLIGENCE 2021 IROS 2021 Workshop on Impact-Aware Robotics PDF BIB

Volumetric Data Fusion of External Depth and Onboard Proximity Data For Occluded Space Reduction

Matthew Strong, Caleb Escobedo, Alessandro Roncone

Workshop Paper EMBODIED INTELLIGENCE 2021 4th Workshop on Proximity Perception in Robotics at IROS 2021 PDF BIB

Teaching Grounded Reading Skills via an Interactive Robot Tutor

Kayleigh "Kaleb" Bishop, Bradley Hayes, Alessandro Roncone

Workshop Paper SOCIAL INTELLIGENCE 2021 ACM International Conference on Human-Robot Interaction [HRI], Workshop on Robots for Learning PDF BIB

2020

Cooperative Control of Mobile Robots with Stackelberg Learning

Joewie J. Koh*, Guohui Ding*, Christoffer Heckman, Lijun Chen, Alessandro Roncone

Conference Paper EMBODIED INTELLIGENCE 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems [IROS] PDF BIB

Distributed Reinforcement Learning for Cooperative Multi-Robot Object Manipulation

Guohui Ding*, Joewie J. Koh*, Kelly Merckaert, Bram Vanderborght, Marco M. Nicotra, Christoffer Heckman, Alessandro Roncone, Lijun Chen
Extended abstract

Conference Paper EMBODIED INTELLIGENCE 2020 International Conference on Autonomous Agents and Multiagent Systems [AAMAS] PDF BIB

2019

An Affordance-based Action Planner for On-line and Concurrent Human-Robot Collaborative Assembly

Francesca Stramandinoli, Alessandro Roncone, Olivier Mangin, Francesco Nori, and Brian Scassellati

Workshop Paper SOCIAL INTELLIGENCE 2019 2nd ICRA International Workshop on Computational Models of Affordance in Robotics

2018

Situated Human-Robot Collaboration: predicting intent from grounded natural language

Jake Brawer, Olivier Mangin, Alessandro Roncone, and Brian Scassellati

Conference Paper SOCIAL INTELLIGENCE 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems [IROS] PDF BIB

Preference-Based Assistance Prediction for Human-Robot Collaboration Tasks

Elena Corina Grigore, Alessandro Roncone, Olivier Mangin, and Brian Scassellati

Conference Paper SOCIAL INTELLIGENCE 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems [IROS] PDF BIB

The HRC Model set for Human-Robot Collaboration Research

Sofya Zeylikman, Sarah Widder, Alessandro Roncone, Olivier Mangin, and Brian Scassellati

Conference Paper SOCIAL INTELLIGENCE 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems [IROS] PDF BIB

Predicting Supportive Behaviors for Human-Robot Collaboration

Elena Corina Grigore, Olivier Mangin, Alessandro Roncone, and Brian Scassellati
Extended abstract

Conference Paper SOCIAL INTELLIGENCE 2018 International Conference on Autonomous Agents and Multiagent Systems [AAMAS] PDF BIB

Compact Real-time avoidance on a Humanoid Robot for Human-Robot interaction

Dong Hai Phuong Nguyen, Matej Hoffmann, Alessandro Roncone, Ugo Pattacini, and Giorgio Metta

Conference Paper EMBODIED INTELLIGENCE 2018 ACM/IEEE International Conference on Human-Robot Interaction [HRI] PDF BIB

2017

Transparent Role Assignment and Task Allocation in Human Robot Collaboration

Alessandro Roncone, Olivier Mangin, and Brian Scassellati

Conference Paper SOCIAL INTELLIGENCE 2017 IEEE International Conference on Robotics and Automation [ICRA] PDF BIB

Learning Peripersonal Space Representation in a Humanoid Robot with Artificial Skin

Alessandro Roncone

Workshop Paper EMBODIED INTELLIGENCE 2017 AAAI Matters PDF BIB

2016

Peripersonal Space and Margin of Safety around the Body: Learning Visuo-tactile Associations in a Humanoid Robot with Artificial Skin

Alessandro Roncone, Matej Hoffmann, Ugo Pattacini, Luciano Fadiga, and Giorgio Metta

Journal Article EMBODIED INTELLIGENCE 2016 PLOS ONE PDF BIB

Physiologically Inspired Blinking Behavior for a Humanoid Robot

Hagen Lehmann, Alessandro Roncone, Ugo Pattacini, and Giorgio Metta

Conference Paper SOCIAL INTELLIGENCE 2016 International Conference on Social Robotics [ICSR] PDF BIB

A Cartesian 6-DoF Gaze Controller for Humanoid Robots

Alessandro Roncone, Ugo Pattacini, Giorgio Metta, and Lorenzo Natale

Conference Paper EMBODIED INTELLIGENCE 2016 Robotics: Science and Systems [RSS] PDF BIB

2015

Expanding Sensorimotor capabilities of Humanoid Robots through Multisensory Integration - a study on the implementation of Peripersonal Space on the iCub

Alessandro Roncone

Thesis/Book EMBODIED INTELLIGENCE 2015 Ph.D. Thesis PDF BIB

Learning peripersonal space representation through artificial skin for avoidance and reaching with whole body surface

Alessandro Roncone, Matej Hoffmann, Ugo Pattacini, and Giorgio Metta

Conference Paper EMBODIED INTELLIGENCE 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems [IROS] PDF BIB

2014

Gaze Stabilization for Humanoid Robots: A Comprehensive Framework

Alessandro Roncone, Ugo Pattacini, Giorgio Metta, and Lorenzo Natale

Conference Paper EMBODIED INTELLIGENCE 2014 IEEE-RAS International Conference on Humanoid Robots PDF BIB

3D Stereo Estimation and Fully Automated Learning of Eye-Hand Coordination in Humanoid Robots

Sean Ryan Fanello, Ugo Pattacini, Ilaria Gori, Vadim Tikhanoff, Marco Randazzo, Alessandro Roncone, Francesca Odone, and Giorgio Metta

Conference Paper EMBODIED INTELLIGENCE 2014 IEEE-RAS International Conference on Humanoid Robots PDF BIB

Automatic kinematic chain calibration using artificial skin: self-touch in the iCub humanoid robot

Alessandro Roncone, Matej Hoffmann, Ugo Pattacini, and Giorgio Metta
It was featured in the IEEE Spectrum Video Friday!

Conference Paper EMBODIED INTELLIGENCE 2014 IEEE International Conference on Robotics and Automation [ICRA] PDF BIB