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Snakes can traverse almost all types of environments by bending their elongate bodies in 3-D to interact with the terrain. Similarly, a snake robot is a promising platform to perform critical tasks in various environments. Understanding how…
Drawing inspiration from swarm intelligence, we show that short-range attractive interactions between thermally driven Brownian quasiparticles enable energy-efficient optimization. As quasiparticles can be generated directly within a…
Animating an avatar that reflects a user's action in the VR world enables natural interactions with the virtual environment. It has the potential to allow remote users to communicate and collaborate in a way as if they met in person.…
In this paper, we consider the problem of collectively exploring unknown and dynamic environments with a decentralized heterogeneous multi-robot system consisting of multiple units of two variants of a miniature robot. The first variant-a…
Teleoperated robotic characters can perform expressive interactions with humans, relying on the operators' experience and social intuition. In this work, we propose to create autonomous interactive robots, by training a model to imitate…
A swarm robotic system consists of a team of robots performing cooperative tasks without any centralized coordination. In principle, swarms enable flexible and scalable solutions; however, designing individual control algorithms that can…
Most human-robot interfaces, such as joysticks and keyboards, require training and constant cognitive effort and provide a limited degree of awareness of the robots state and its environment. Embodied interactions, instead of interfaces,…
This paper presents a formulation for swarm control and high-level task planning that is dynamically responsive to user commands and adaptable to environmental changes. We design an end-to-end pipeline from a tactile tablet interface for…
Animating and simulating crowds using an agent-based approach is a well-established area where every agent in the crowd is individually controlled such that global human-like behaviour emerges. We observe that human navigation and movement…
Human-robot collaboration has been studied primarily in dyadic or sequential settings. However, real homes require multiadic collaboration, where multiple humans and robots share a workspace, acting concurrently on interleaved subtasks with…
Some recent studies have pointed that, the self-organization of neurons into brain-like structures, and the self-organization of ants into a swarm are similar in many respects. If possible to implement, these features could lead to…
Despite recent advancement in virtual reality technology, teleoperating a high DoF robot to complete dexterous tasks in cluttered scenes remains difficult. In this work, we propose a system that allows the user to teleoperate a Fetch robot…
Large Language Models (LLMs) are increasingly used to power autonomous agents for complex, multi-step tasks. However, human-agent interaction remains pointwise and reactive: users approve or correct individual actions to mitigate immediate…
In densely-packed robot swarms operating in confined regions, spatial interference -- which manifests itself as a competition for physical space -- forces robots to spend more time navigating around each other rather than performing the…
Social robots often rely on visual perception to understand their users and the environment. Recent advancements in data-driven approaches for computer vision have demonstrated great potentials for applying deep-learning models to enhance a…
Collective intelligence and autonomy of robot swarms can be improved by enabling the individual robots to become aware they are the constituent units of a larger whole and what is their role. In this study, we present an algorithm to enable…
We present an intelligent interactive nightstand mounted on a mobile robot, to aid the elderly in their homes using physical, tactile and visual percepts. We show the integration of three different sensing modalities for controlling the…
Artificial life models, swarm intelligent and evolutionary computation algorithms are usually built on fixed size populations. Some studies indicate however that varying the population size can increase the adaptability of these systems and…
This paper introduces PORTAL (POrtal widget for Remote Target Acquisition and controL) that allows the user to interact with out-of-reach objects in a virtual environment. We describe the PORTAL interaction technique for placing a portal…
Current technological advances open up new opportunities for bringing human-machine interaction to a new level of human-centered cooperation. In this context, a key issue is the semantic understanding of the environment in order to enable…