Related papers: Resource Prediction for Humanoid Robots
This paper presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments. When navigating in a shared space, each robot needs accurate motion predictions of neighboring robots…
Recent development in developing humanoid robot poses new challenges to human-machine interaction communication. A major challenge is to develop robots that can behave like and interact with human in the most natural way possible. This…
Robot understanding of human intentions is essential for fluid human-robot interaction. Intentions, however, cannot be directly observed and must be inferred from behaviors. We learn a model of adaptive human behavior conditioned on the…
Humanoid robots maintain balance and navigate by controlling the contact wrenches applied to the environment. While it is possible to plan dynamically-feasible motion that applies appropriate wrenches using existing methods, a humanoid may…
Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…
As the autonomy and capabilities of robotic systems increase, they are expected to play the role of teammates rather than tools and interact with human collaborators in a more realistic manner, creating a more human-like relationship. Given…
In this work, we propose a novel shared autonomy framework to operate articulated robots. We provide strategies to design both the task-oriented hierarchical planning and policy shaping algorithms for efficient human-robot interactions in…
A team of multiple robots seamlessly and safely working in human-filled public environments requires adaptive task allocation and socially-aware navigation that account for dynamic human behavior. Current approaches struggle with highly…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
This research investigates strategies for multi-robot coordination in multi-human environments. It proposes a multi-objective learning-based coordination approach to addressing the problem of path planning, navigation, task scheduling, task…
As human-robot interaction (HRI) systems advance, so does the difficulty of evaluating and understanding the strengths and limitations of these systems in different environments and with different users. To this end, previous methods have…
Humanoid robots will be able to assist humans in their daily life, in particular due to their versatile action capabilities. However, while these robots need a certain degree of autonomy to learn and explore, they also should respect…
World models have demonstrated impressive performance on robotic learning tasks. Many such tasks inherently demand multimodal reasoning; for example, filling a bottle with water will lead to visual information alone being ambiguous or…
To achieve human-like behaviour during speech interactions, it is necessary for a humanoid robot to estimate the location of a human talker. Here, we present a method to optimize the parameters used for the direction of arrival (DOA)…
For robots to operate effectively and safely alongside humans, they must be able to understand the progress of ongoing actions. This ability, known as action progress prediction, is critical for tasks ranging from timely assistance to…
Humanoid robots deployed in industrial environments are required to perform load-carrying transportation tasks that tightly couple locomotion and manipulation. However, achieving stable and robust locomotion under varying payloads and…
Collaborative human activities are grounded in social and moral norms, which humans consciously and subconsciously use to guide and constrain their decision-making and behavior, thereby strengthening their interactions and preventing…
The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…
In order to ensure efficient flow of goods in an automated warehouse and to guarantee its continuous distribution to/from picking stations in an effective way, decisions about which goods will be delivered to which particular picking…
Effective human-robot interaction requires robots to identify human intentions and generate expressive, socially appropriate motions in real-time. Existing approaches often rely on fixed motion libraries or computationally expensive…