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Understanding the intention of vehicles in the surrounding traffic is crucial for an autonomous vehicle to successfully accomplish its driving tasks in complex traffic scenarios such as highway forced merging. In this paper, we consider a…
With the increasing complexity of modern industrial automatic and robotic systems, an increasing burden is put on the operators, who are requested to supervise and interact with such complex systems, typically under challenging and…
Tasks where robots must anticipate human intent, such as navigating around a cluttered home or sorting everyday items, are challenging because they exhibit a wide range of valid actions that lead to similar outcomes. Moreover, zero-shot…
In collaborative human-robot manipulation, a robot must predict human intents and adapt its actions accordingly to smoothly execute tasks. However, the human's intent in turn depends on actions the robot takes, creating a chicken-or-egg…
Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance.…
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…
The provision of robotic assistance during motor training has proven to be effective in enhancing motor learning in some healthy trainee groups as well as patients. Personalizing such robotic assistance can help further improve motor…
In this study we evaluated human-robot collaboration models in an integrated human-robot operational system. An integrated work cell which includes a robotic arm working collaboratively with a human worker was specially designed for…
Impact-aware robotic manipulation benefits from an accurate map from ante-impact to post-impact velocity signals to support, e.g., motion planning and control. This work proposes an approach to generate and experimentally validate such…
Robotic manipulation holds the potential to replace humans in the execution of tedious or dangerous tasks. However, control-based approaches are not suitable due to the difficulty of formally describing open-world manipulation in reality,…
Harnessing human movements to command an Unmanned Aerial Vehicle (UAV) holds the potential to revolutionize their deployment, rendering it more intuitive and user-centric. In this research, we introduce a novel methodology adept at…
Learning to solve complex manipulation tasks from visual observations is a dominant challenge for real-world robot learning. Although deep reinforcement learning algorithms have recently demonstrated impressive results in this context, they…
The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…
Shared control systems aim to combine human and robot abilities to improve task performance. However, achieving optimal performance requires that the robot's level of assistance adjusts the operator's cognitive workload in response to the…
Force interaction is inevitable when robots face multiple operation scenarios. How to make the robot competent in force control for generalized operations such as multi-tasks still remains a challenging problem. Aiming at the…
Complex robotic tasks require human collaboration to benefit from their high dexterity. Frequent human-robot interaction is mentally demanding and time-consuming. Intuitive and easy-to-use robot control interfaces reduce the negative…
During human motor skill training and physical rehabilitation, there is an inherent trade-off between task difficulty and user performance. Characterizing this trade-off is crucial for evaluating user performance, designing assist-as-needed…
Effective human-human and human-autonomy teamwork is critical but often challenging to perfect. The challenge is particularly relevant in time-critical domains, such as healthcare and disaster response, where the time pressures can make…
Binary decision aids, such as alerts, are a simple and widely used form of automation. The formal analysis of a user's task performance with an aid sees the process as the combination of information from two detectors who both receive input…
Human interaction experience plays a crucial role in the effectiveness of human-machine collaboration, especially as interactions in future systems progress towards tighter physical and functional integration. While automation design has…