Related papers: Knowledge Representation for Robots through Human-…
Robots in shared spaces often move in ways that are difficult for people to interpret, placing the burden on humans to adapt. High-DoF robots exhibit motion that people read as expressive, intentionally or not, making it important to…
We propose to learn tasks directly from visual demonstrations by learning to predict the outcome of human and robot actions on an environment. We enable a robot to physically perform a human demonstrated task without knowledge of the…
To be useful in everyday environments, robots must be able to observe and learn about objects. Recent datasets enable progress for classifying data into known object categories; however, it is unclear how to collect reliable object data…
We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…
Learning from demonstration allows for rapid deployment of robot manipulators to a great many tasks, by relying on a person showing the robot what to do rather than programming it. While this approach provides many opportunities, measuring,…
A growing field in robotics and Artificial Intelligence (AI) research is human-robot collaboration, whose target is to enable effective teamwork between humans and robots. However, in many situations human teams are still superior to…
Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…
When machine predictors can achieve higher performance than the human decision-makers they support, improving the performance of human decision-makers is often conflated with improving machine accuracy. Here we propose a framework to…
Aerial robots have the potential to play a crucial role in assisting humans with complex and dangerous tasks. Nevertheless, the future industry demands innovative solutions to streamline the interaction process between humans and drones to…
Successful adoption of industrial robots will strongly depend on their ability to safely and efficiently operate in human environments, engage in natural communication, understand their users, and express intentions intuitively while…
Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…
Object manipulation is a natural activity we perform every day. How humans handle objects can communicate not only the willfulness of the acting, or key aspects of the context where we operate, but also the properties of the objects…
Contemporary robots are increasingly mimicking human social behaviours to facilitate interaction, such as smiling to signal approachability, or hesitating before taking an action to allow people time to react. Such techniques can activate a…
The theoretical ability of modular robots to reconfigure in response to complex tasks in a priori unknown environments has frequently been cited as an advantage and remains a major motivator for work in the field. We present a modular robot…
Learning from demonstrations enables experts to teach robots complex tasks using interfaces such as kinesthetic teaching, joystick control, and sim-to-real transfer. However, these interfaces often constrain the expert's ability to…
Humans use semantic concepts such as spatial relations between objects to describe scenes and communicate tasks such as "Put the tea to the right of the cup" or "Move the plate between the fork and the spoon." Just as children, assistive…
A robot's ability to provide descriptions of its decisions and beliefs promotes effective collaboration with humans. Providing such transparency is particularly challenging in integrated robot systems that include knowledge-based reasoning…
Research in social robotics is commonly focused on designing robots that imitate human behavior. While this might increase a user's satisfaction and acceptance of robots at first glance, it does not automatically aid a non-expert user in…
Autonomy and independent navigation are vital to daily life but remain challenging for individuals with blindness. Robotic systems can enhance mobility and confidence by providing intelligent navigation assistance. However, fully autonomous…
To complete a complex task where a robot navigates to a goal object and fetches it, the robot needs to have a good understanding of the instructions and the surrounding environment. Large pre-trained models have shown capabilities to…