Related papers: CoSTAR: Instructing Collaborative Robots with Beha…

Artificial Intelligence (AI) significantly influences many fields, largely thanks to the vast amounts of high-quality data for machine learning models. The emphasis is now on a data-centric AI strategy, prioritizing data development over…

A key challenge in human-robot collaboration is the non-stationarity created by humans due to changes in their behaviour. This alters environmental transitions and hinders human-robot collaboration. We propose a principled meta-learning…

The current transformation towards smart manufacturing has led to a growing demand for human-robot collaboration (HRC) in the manufacturing process. Perceiving and understanding the human co-worker's behaviour introduces challenges for…

Solving real-world manipulation tasks requires robots to have a repertoire of skills applicable to a wide range of circumstances. When using learning-based methods to acquire such skills, the key challenge is to obtain training data that…

In order for cooperative robots ("co-robots") to respond to human behaviors accurately and efficiently in human-robot collaboration, interpretation of human actions, awareness of new situations, and appropriate decision making are all…

We study real-time collaborative robot (cobot) handling, where the cobot maneuvers a workpiece under human commands. This is useful when it is risky for humans to directly handle the workpiece. However, it is hard to make the cobot both…

Autonomous robots combine a variety of skills to form increasingly complex behaviors called missions. While the skills are often programmed at a relatively low level of abstraction, their coordination is architecturally separated and often…

This work describes the development of a robotic system that acquires knowledge incrementally through human interaction where new tools and motions are taught on the fly. The robotic system developed was one of the five finalists in the…

With the number of people with disabilities (PWD) increasing worldwide each year, the demand for mobility support to enable independent living and social integration is also growing. Wheelchairs commonly support the mobility of PWD in both…

Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…

We introduce the initial release of our software Robustar, which aims to improve the robustness of vision classification machine learning models through a data-driven perspective. Building upon the recent understanding that the lack of…

Enabling robots to work in close proximity to humans necessitates a control framework that does not only incorporate multi-sensory information for autonomous and coordinated interactions but also has perceptive task planning to ensure an…

Heterogeneous Robot Teams can provide a wide range of capabilities and therefore significant benefits when handling a mission. However, they also require new approaches to capability and mission definition that are not only suitable to…

Coordinating a team of robots to reposition multiple objects in cluttered environments requires reasoning jointly about where robots should establish contact, how to manipulate objects once contact is made, and how to navigate safely and…

Robotic assistance in robot arm teleoperation tasks has recently gained a lot of traction in industrial and domestic environment. A wide variety of input devices is used in such setups. Due to the noise in the input signals (e.g., Brain…

Many manipulation tasks pose a challenge since they depend on non-visual environmental information that can only be determined after sustained physical interaction has already begun. This is particularly relevant for effort-sensitive,…

Behavior Trees constitute a widespread AI tool which has been successfully spun out in robotics. Their advantages include simplicity, modularity, and reusability of code. However, Behavior Trees remain a high-level decision making engine;…

Collaborative multi-robot perception provides multiple views of an environment, offering varying perspectives to collaboratively understand the environment even when individual robots have poor points of view or when occlusions are caused…

Navigation is a fundamental capacity for mobile robots, enabling them to operate autonomously in complex and dynamic environments. Conventional approaches use probabilistic models to localize robots and build maps simultaneously using…

Humans have developed the capability to teach relevant aspects of new or adapted tasks to a social peer with very few task demonstrations by making use of scaffolding strategies that leverage prior knowledge and importantly prior joint…