Related papers: The Helping Hand: An Assistive Manipulation Framew…
As augmented reality technology and hardware become more mature and affordable, researchers have been exploring more intuitive and discoverable interaction techniques for immersive environments. In this paper, we investigate multimodal…
Real-time collaboration with humans poses challenges due to the different behavior patterns of humans resulting from diverse physical constraints. Existing works typically focus on learning safety constraints for collaboration, or how to…
Enabling humans and robots to collaborate effectively requires purposeful communication and an understanding of each other's affordances. Prior work in human-robot collaboration has incorporated knowledge of human affordances, i.e., their…
Development of task guidance systems for aiding humans in a situated task remains a challenging problem. The role of search (information retrieval) and conversational systems for task guidance has immense potential to help the task…
Interactive reinforcement learning, where humans actively assist during an agent's learning process, has the promise to alleviate the sample complexity challenges of practical algorithms. However, the inner workings and state of the robot…
In this work, we aim to enable legged robots to learn how to interpret human social cues and produce appropriate behaviors through physical human guidance. However, learning through physical engagement can place a heavy burden on users when…
The growing adoption of augmented and virtual reality (AR and VR) technologies in industrial training and on-the-job assistance has created new opportunities for intelligent, context-aware support systems. As workers perform complex tasks…
Assistive robotics is an important subarea of robotics that focuses on the well-being of people with disabilities. A robotic guide dog is an assistive quadruped robot that helps visually impaired people in obstacle avoidance and navigation.…
Robots often face manipulation tasks in environments where vision is inadequate due to clutter, occlusions, or poor lighting--for example, reaching a shutoff valve at the back of a sink cabinet or locating a light switch above a crowded…
This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous system, this paper explores the subtask distribution between a…
Human-robot interaction is increasingly moving toward multi-robot, socially grounded environments. Existing systems struggle to integrate multimodal perception, embodied expression, and coordinated decision-making in a unified framework.…
Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…
As the use of Augmented Reality (AR) to enhance interactions between human agents and robotic systems in a work environment continues to grow, robots must communicate their intents in informative yet straightforward ways. This improves the…
We introduce a real-time, human-in-the-loop gesture control framework that can dynamically adapt audio and music based on human movement by analyzing live video input. By creating a responsive connection between visual and auditory stimuli,…
This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human…
In the field of Geriatronics, enabling effective and transparent communication between humans and robots is crucial for enhancing the acceptance and performance of assistive robots. Our early-stage research project investigates the…
While shared autonomy offers significant potential for assistive robotics, key questions remain about how to effectively map 2D control inputs to 6D robot motions. An intuitive framework should allow users to input commands effortlessly,…
It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…
People with lower and upper body disabilities can benefit from wheelchairs and robotic arms to improve mobility and independence. Prior assistive interfaces, such as touchscreens and voice-driven predefined commands, often remain…
As autonomous service robots become more affordable and thus available also for the general public, there is a growing need for user friendly interfaces to control the robotic system. Currently available control modalities typically expect…