Related papers: CoSTAR: Instructing Collaborative Robots with Beha…
How can we enable novice users to create effective task plans for collaborative robots? Must there be a tradeoff between generalizability and ease of use? To answer these questions, we conducted a user study with the CoSTAR system, which…
How can we enable users to create effective, perception-driven task plans for collaborative robots? We conducted a 35-person user study with the Behavior Tree-based CoSTAR system to determine which strategies for end user creation of…
Mass customization and shorter manufacturing cycles are becoming more important among small and medium-sized companies. However, classical industrial robots struggle to cope with product variation and dynamic environments. In this paper, we…
A robot needs multiple interaction modes to robustly collaborate with a human in complicated industrial tasks. We develop a Coexistence-and-Cooperation (CoCo) human-robot collaboration system. Coexistence mode enables the robot to work with…
Developing robotic technologies for use in human society requires ensuring the safety of robots' navigation behaviors while adhering to pedestrians' expectations and social norms. However, maintaining real-time communication between robots…
In modern industrial collaborative robotic applications, it is desirable to create robot programs automatically, intuitively, and time-efficiently. Moreover, robots need to be controlled by reactive policies to face the unpredictability of…
Assembly processes involving humans and robots are challenging scenarios because the individual activities and access to shared workspace have to be coordinated. Fixed robot programs leave no room to diverge from a fixed protocol. Working…
A robot can now grasp an object more effectively than ever before, but once it has the object what happens next? We show that a mild relaxation of the task and workspace constraints implicit in existing object grasping datasets can cause…
Domestic and service robots have the potential to transform industries such as health care and small-scale manufacturing, as well as the homes in which we live. However, due to the overwhelming variety of tasks these robots will be expected…
This paper studies real-time collaborative robot (cobot) handling, where the cobot maneuvers an object under human dynamic gesture commands. Enabling dynamic gesture commands is useful when the human needs to avoid direct contact with the…
Vision-Language-Action (VLA) models leverage powerful perceptual priors from web-scale Vision-Language Model (VLM) pre-training, yet they remain surprisingly brittle in practice, frequently failing at simple robotic tasks. To mitigate this,…
Nonverbal visual symbols and displays play an important role in communication when humans and robots work collaboratively. However, few studies have investigated how different types of non-verbal cues affect objective task performance,…
Recent advances in Source-Free Unsupervised Video Domain Adaptation (SFUVDA) leverage vision-language models to enhance pseudo-label generation. However, challenges such as noisy pseudo-labels and over-confident predictions limit their…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge. Specifically, it presents the…
Our world is being increasingly pervaded by intelligent robots with varying degrees of autonomy. To seamlessly integrate themselves in our society, these machines should possess the ability to navigate the complexities of our daily routines…
Collaborative robots, or cobots, are increasingly integrated into various industrial and service settings to work efficiently and safely alongside humans. However, for effective human-robot collaboration, robots must reason based on human…
Multi-robot systems can greatly enhance efficiency through coordination and collaboration, yet in practice, full-time communication is rarely available and interactions are constrained to close-range exchanges. Existing methods either…
Collaborative robots are increasingly present in our lives. The KUKA LBR iiwa equipped with the KUKA Sunrise.OS controller is a good example of a collaborative/sensitive robot. This paper presents a MATLAB Toolbox, the KUKA Sunrise Toolbox…
To understand and collaborate with humans, robots must account for individual human traits, habits, and activities over time. However, most robotic assistants lack these abilities, as they primarily focus on predefined tasks in structured…