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Language-guided active sensing is a robotics subtask where a robot with an onboard sensor interacts efficiently with the environment via object manipulation to maximize perceptual information, following given language instructions. These…
A robot operating in a household makes observations of multiple objects as it moves around over the course of days or weeks. The objects may be moved by inhabitants, but not completely at random. The robot may be called upon later to…
Robots that can manipulate objects in unstructured environments and collaborate with humans can benefit immensely by understanding natural language. We propose a pipelined architecture of two stages to perform spatial reasoning on the text…
Robots coexisting with humans in their environment and performing services for them need the ability to interact with them. One particular requirement for such robots is that they are able to understand spatial relations and can place…
Cooperative perception is a promising technique for intelligent and connected vehicles through vehicle-to-everything (V2X) cooperation, provided that accurate pose information and relative pose transforms are available. Nevertheless,…
Human environments contain numerous objects configured in a variety of arrangements. Our goal is to enable robots to repose previously unseen objects according to learned semantic relationships in novel environments. We break this problem…
Service robots that work alongside humans in a shared environment need a navigation system that takes into account not only physical safety but also social norms for mutual cooperation. In this paper, we introduce a motion planning system…
Humans have a rich representation of the entities in their environment. Entities are described by their attributes, and entities that share attributes are often semantically related. For example, if two books have "Natural Language…
To catch a thrown object, a robot must be able to perceive the object's motion and generate control actions in a timely manner. Rather than explicitly estimating the object's 3D position, this work focuses on a novel approach that…
Robots are increasingly being used in dynamic environments like workplaces, hospitals, and homes. As a result, interactions with robots must be simple and intuitive, with robots perception adapting efficiently to human-induced changes. This…
We present a novel approach to place recognition well-suited to environments with many dynamic objects--objects that may or may not be present in an agent's subsequent visits. By incorporating an object-detecting preprocessing step, our…
This paper describes a system developed to help people explore local communities by providing navigation services in social spaces created by the community members via communication and knowledge sharing. The proposed system utilizes data…
Object permanence in psychology means knowing that objects still exist even if they are no longer visible. It is a crucial concept for robots to operate autonomously in uncontrolled environments. Existing approaches learn object permanence…
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…
Capturing the interactions between humans and their environment in 3D is important for many applications in robotics, graphics, and vision. Recent works to reconstruct the 3D human and object from a single RGB image do not have consistent…
Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the…
Humans can easily understand a single image as depicting multiple potential objects permitting interaction. We use this skill to plan our interactions with the world and accelerate understanding new objects without engaging in interaction.…
We are developing a system for human-robot communication that enables people to communicate with robots in a natural way and is focused on solving problems in a shared space. Our strategy for developing this system is fundamentally…
Understanding how people interact with their surroundings and each other is essential for enabling robots to act in socially compliant and context-aware ways. While 3D Scene Graphs have emerged as a powerful semantic representation for…
We present an approach for building an active agent that learns to segment its visual observations into individual objects by interacting with its environment in a completely self-supervised manner. The agent uses its current segmentation…