Related papers: Shared Autonomy with Learned Latent Actions
Robot-assisted feeding in household environments is challenging because it requires robots to generate trajectories that effectively bring food items of varying shapes and sizes into the mouth while making sure the user is comfortable. Our…
This paper introduces a novel deep-learning approach for human-to-robot motion retargeting, enabling robots to mimic human poses accurately. Contrary to prior deep-learning-based works, our method does not require paired human-to-robot…
This project introduces a Feeding Assistive Robot tailored to individuals with physical disabilities, including those with limited arm function or hand control. The core component is a precise 6-degree freedom robotic arm, operated…
Human-robot shared control, which integrates the advantages of both humans and robots, is an effective approach to facilitate efficient surgical operation. Learning from demonstration (LfD) techniques can be used to automate some of the…
Humanoid robots capable of autonomous operation in diverse environments have long been a goal for roboticists. However, autonomous manipulation by humanoid robots has largely been restricted to one specific scene, primarily due to the…
Understanding the intentions of human teammates is critical for safe and effective human-robot interaction. The canonical approach for human-aware robot motion planning is to first predict the human's goal or path, and then construct a…
When humans perform a task with an articulated object, they interact with the object only in a handful of ways, while the space of all possible interactions is nearly endless. This is because humans have prior knowledge about what…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
Achieving human-like dexterous manipulation remains a major challenge for general-purpose robots. While Vision-Language-Action (VLA) models show potential in learning skills from demonstrations, their scalability is limited by scarce…
Robots will become ubiquitously useful only when they can use few attempts to teach themselves to perform different tasks, even with complex bodies and in dynamical environments. Vertebrates, in fact, successfully use trial-and-error to…
Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing…
Background: Assistance robots have the potential to increase the independence of people who need daily care due to limited mobility or being wheelchair-bound. Current solutions of attaching robotic arms to motorized wheelchairs offer…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
Assistive robotic manipulators are becoming increasingly important for people with disabilities. Teleoperating the manipulator in mundane tasks is part of their daily lives. Instead of steering the robot through all actions, applying…
Labor shortages in the United States are impacting a number of industries including the meat processing sector. Collaborative technologies that work alongside humans while increasing production abilities may support the industry by…
Robotic assistance in robot arm teleoperation tasks has recently gained a lot of traction in industrial and domestic environment. A wide variety of input devices is used in such setups. Due to the noise in the input signals (e.g., Brain…
For robots to assist users with household tasks, they must first learn about the tasks from the users. Further, performing the same task every day, in the same way, can become boring for the robot's user(s), therefore, assistive robots must…
Companies all over the world started to produce and sell telepresence robots in the last decade. Users of these robots have to plan their way to avoid collisions and control the speed of the robot to move it to destination point. This…
We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a robot flexibility to generate smooth and feasible motions;…
Language-conditioned policies allow robots to interpret and execute human instructions. Learning such policies requires a substantial investment with regards to time and compute resources. Still, the resulting controllers are highly…