Related papers: Assistive Gym: A Physics Simulation Framework for …
Virtual Reality (VR) is rapidly increasing in popularity as a teaching tool. It allows for the creation of a highly immersive, three-dimensional virtual environment intended to simulate real-life environments. With more robots saturating…
Despite promising progress in reinforcement learning (RL), developing algorithms for autonomous driving (AD) remains challenging: one of the critical issues being the absence of an open-source platform capable of training and effectively…
We present RCareWorld, a human-centric simulation world for physical and social robotic caregiving designed with inputs from stakeholders, including care recipients, caregivers, occupational therapists, and roboticists. RCareWorld has…
Applying Deep Reinforcement Learning (DRL) to complex tasks in the field of robotics has proven to be very successful in the recent years. However, most of the publications focus either on applying it to a task in simulation or to a task in…
Medical robotics includes assistive devices used by the physician in order to make his/her diagnostic or therapeutic practices easier and more efficient. This chapter focuses on such systems. It introduces the general field of…
In this paper, we investigate the roles that social robots can take in physical exercise with human partners. In related work, robots or virtual intelligent agents take the role of a coach or instructor whereas in other approaches they are…
We introduce controlgym, a library of thirty-six industrial control settings, and ten infinite-dimensional partial differential equation (PDE)-based control problems. Integrated within the OpenAI Gym/Gymnasium (Gym) framework, controlgym…
Robots in urban environments will inevitably encounter situations beyond their capabilities (e.g., delivery robots unable to press traffic light buttons), necessitating bystander assistance. These spontaneous collaborations possess…
We present OpenRoboCare, a multimodal dataset for robot caregiving, capturing expert occupational therapist demonstrations of Activities of Daily Living (ADLs). Caregiving tasks involve complex physical human-robot interactions, requiring…
Control systems are at the core of every real-world robot. They are deployed in an ever-increasing number of applications, ranging from autonomous racing and search-and-rescue missions to industrial inspections and space exploration. To…
Reinforcement Learning (RL) is a machine learning framework for artificially intelligent systems to solve a variety of complex problems. Recent years has seen a surge of successes solving challenging games and smaller domain problems,…
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodologies that take full advantage of body compliance. Currently…
The work presented in this paper aims to explore how, and to what extent, an adaptive robotic coach has the potential to provide extra motivation to adhere to long-term rehabilitation and help fill the coaching gap which occurs during…
In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because force must be applied to the skin. Using finite element…
Robotic simulators are crucial for academic research and education as well as the development of safety-critical applications. Reinforcement learning environments -- simple simulations coupled with a problem specification in the form of a…
The development of assistive robotic agents to support household tasks is advancing, yet the underlying models often operate in virtual settings that do not reflect real-world complexity. For assistive care robots to be effective in diverse…
Simulation engines are widely adopted in robotics. However, they lack either full simulation control, ROS integration, realistic physics, or photorealism. Recently, synthetic data generation and realistic rendering has advanced tasks like…
Both the design and control of a robot play equally important roles in its task performance. However, while optimal control is well studied in the machine learning and robotics community, less attention is placed on finding the optimal…
Assistive robots have growing potential to support physical wellbeing in home and healthcare settings, for example, by guiding users through stretching or rehabilitation routines. However, existing systems remain largely scripted, which…
We propose VRGym, a virtual reality testbed for realistic human-robot interaction. Different from existing toolkits and virtual reality environments, the VRGym emphasizes on building and training both physical and interactive agents for…