Related papers: Estimating Human Intent for Physical Human-Robot C…
Embodied foundation models have achieved significant breakthroughs in robotic manipulation, yet they still depend heavily on large-scale robot demonstrations. Although recent works have explored leveraging human data to alleviate this…
In future, robots will be present in everyday life. The development of these supporting robots is a challenge. A fundamental task for assistance robots is to pick up and hand over objects to humans. By interacting with users, soft factors…
In mobile robot shared control, effectively understanding human motion intention is critical for seamless human-robot collaboration. This paper presents a novel shared control framework featuring planning-level intention prediction. A path…
In hazardous environments like nuclear facilities, robotic systems are essential for executing tasks that would otherwise expose humans to dangerous radiation levels, which pose severe health risks and can be fatal. However, many operations…
Human motion prediction is non-trivial in modern industrial settings. Accurate prediction of human motion can not only improve efficiency in human robot collaboration, but also enhance human safety in close proximity to robots. Among…
When faced with accomplishing a task, human experts exhibit intentional behavior. Their unique intents shape their plans and decisions, resulting in experts demonstrating diverse behaviors to accomplish the same task. Due to the…
Human motion prediction is an essential step for efficient and safe human-robot collaboration. Current methods either purely rely on representing the human joints in some form of neural network-based architecture or use regression models…
Seamless human-robot manipulation in close proximity relies on accurate forecasts of human motion. While there has been significant progress in learning forecast models at scale, when applied to manipulation tasks, these models accrue high…
Service robots in public spaces require real-time understanding of human behavioral intentions for natural interaction. We present a practical multimodal framework for frame-accurate human-robot interaction intent detection that fuses…
In gaze based Human-Robot Interaction (HRI), it is important to determine the human intention for further interaction. The gaze intention is often modelled as fixation. However, when looking at an object, it is not natural and it is…
Tight coordination is required for effective human-robot teams in domains involving fast dynamics and tactical decisions, such as multi-car racing. In such settings, robot teammates must react to cues of a human teammate's tactical…
In human-robot collaboration, the objectives of the human are often unknown to the robot. Moreover, even assuming a known objective, the human behavior is also uncertain. In order to plan a robust robot behavior, a key preliminary question…
Humans are able to negotiate downstep behaviors -- both planned and unplanned -- with remarkable agility and ease. The goal of this paper is to systematically study the translation of this human behavior to bipedal walking robots, even if…
In this paper, we tackle the task of scene-aware 3D human motion forecasting, which consists of predicting future human poses given a 3D scene and a past human motion. A key challenge of this task is to ensure consistency between the human…
Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…
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…
Human movement is goal-directed and influenced by the spatial layout of the objects in the scene. To plan future human motion, it is crucial to perceive the environment -- imagine how hard it is to navigate a new room with lights off.…
As robots become ubiquitous in the workforce, it is essential that human-robot collaboration be both intuitive and adaptive. A robot's quality improves based on its ability to explicitly reason about the time-varying (i.e. learning curves)…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
This paper explores the estimation of user attention in the setting of a cooperative handheld robot: a robot designed to behave as a handheld tool but that has levels of task knowledge. We use a tool-mounted gaze tracking system, which,…