Related papers: Online Robot Introspection via Wrench-based Action…
We propose a novel approach to robot-operated active understanding of unknown indoor scenes, based on online RGBD reconstruction with semantic segmentation. In our method, the exploratory robot scanning is both driven by and targeting at…
When humans control robot arms these robots often need to infer the human's desired task. Prior research on assistive teleoperation and shared autonomy explores how robots can determine the desired task based on the human's joystick inputs.…
The advancement of embodied intelligence is accelerating the integration of robots into daily life as human assistants. This evolution requires robots to not only interpret high-level instructions and plan tasks but also perceive and adapt…
Robot swarms are composed of many simple robots that communicate and collaborate to fulfill complex tasks. Robot controllers usually need to be specified by experts on a case-by-case basis via programming code. This process is…
Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…
A robot's ability to understand or ground natural language instructions is fundamentally tied to its knowledge about the surrounding world. We present an approach to grounding natural language utterances in the context of factual…
The motion of robots and objects in our world is often highly dependent upon contact. When contact is expected but does not occur or when contact is not expected but does occur, robot behavior diverges from plan, often disastrously. This…
Extending the abilities of service robots is important for expanding what they can achieve in everyday manipulation tasks. On the other hand, it is also essential to ensure them to determine what they can not achieve in certain cases due to…
Learning skills that interact with objects is of major importance for robotic manipulation. These skills can indeed serve as an efficient prior for solving various manipulation tasks. We propose a novel Skill Learning approach that…
This work aims to interpret human behavior to anticipate potential user confusion when a robot provides explanations for failure, allowing the robot to adapt its explanations for more natural and efficient collaboration. Using a dataset…
Large-scale generative models are shown to be useful for sampling meaningful candidate solutions, yet they often overlook task constraints and user preferences. Their full power is better harnessed when the models are coupled with external…
Trustworthy robot behavior requires not only high levels of task success but also that the robot can reliably quantify how likely it is to succeed. To this end, we present a first-of-its-kind study of confidence calibration in…
Endowing robots with the human ability to learn a growing set of skills over the course of a lifetime as opposed to mastering single tasks is an open problem in robot learning. While multi-task learning approaches have been proposed to…
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…
Robust task-oriented grasp planning is vital for autonomous robotic precision assembly tasks. Knowledge of the objects' geometry and preconditions of the target task should be incorporated when determining the proper grasp to execute.…
During visuomotor tasks, robots must compensate for temporal delays inherent in their sensorimotor processing systems. Delay compensation becomes crucial in a dynamic environment where the visual input is constantly changing, e.g., during…
Ambiguities are inevitable in human-robot interaction, especially when a robot follows user instructions in a large, shared space. For example, if a user asks the robot to find an object in a home environment with underspecified…
We explore natural user interactions using a virtual reality simulation of a robot arm for assembly tasks. Using a Wizard-of-Oz study, participants completed collaborative LEGO and instructive PCB assembly tasks, with the robot responding…
Despite significant progress in robotic systems for operation within human-centric environments, existing models still heavily rely on explicit human commands to identify and manipulate specific objects. This limits their effectiveness in…
Humanoid robots are entering our physical world at scale, yet as oversized toys--good at singing and dancing, but short on force-interaction capabilities for practical tasks. Bridging this gap necessitates prioritizing reliable contact…