Roberts has been working out at the team's spring training complex in Sarasota. He visited with his teammates before Friday night's game at Tampa Bay.
"I'm just doing everything I can every day," Roberts said. "It's more go to the field, see how you feel. We're kind of on a progression of doing baseball activity one day if we can, and a physical workout the next, more so cardiovascular, lifting and stuff like that. Depending on the symptoms that day or the next day, you just keep going."
Although there is no timetable for his return, Roberts has been assured by doctors that his career is not in jeopardy.
"That's very reassuring when you are dealing with people where that's all they do," Roberts said. "When they tell me that I'll be ready to play again and I'll be fine, I trust that opinion. I think all of our goals is just to get healthy, 100-percent symptom-free for an extended period of time, and be ready to play whenever that is."
Roberts was placed on the seven-day concussion list on May 19, then transferred to the 15-day disabled list two weeks later.
"I know everybody is excited about seeing him," Baltimore manager Buck Showalter said. "Obviously, we've missed him a lot. I think as much as a person as a player. I think it's been kind of uplifting for everybody to see him. It's been the highlight of the trip already."
Roberts has played in just 39 games this season.
"We are trying to make strides, we are trying to get to the point where I'm healthy hopefully at some point by the end of the season and go into a normal offseason and be prepared for [next year]," Roberts said. "The thing is, you have to look over a time period and realize, 'OK, six weeks ago, I couldn't even come close to doing what I was doing.' It's baby steps, it really is. A lot of baby steps added up gets you to where you want to be, but the baby steps are hard."