Related papers: OnionBot: A System for Collaborative Computational…
Collaborative robots (cobots) increasingly operate alongside humans, demanding robust real-time safeguarding. Current safety standards (e.g., ISO 10218, ANSI/RIA 15.06, ISO/TS 15066) require risk assessments but offer limited guidance for…
We present the Human And Robot Multimodal Observations of Natural Interactive Collaboration (HARMONIC) data set. This is a large multimodal data set of human interactions with a robotic arm in a shared autonomy setting designed to imitate…
Robots are ubiquitous in small-to-large-scale manufacturers. While collaborative robots (cobots) have significant potential in these settings due to their flexibility and ease of use, proper integration is critical to realize their full…
A new and relatively unexplored research direction in robotics systems is the coordination of humans and robots working as a team. In this paper, we focus upon problem domains and tasks in which multiple robots, humans and other agents are…
We present an approach for safe and object-independent human-to-robot handovers using real time robotic vision and manipulation. We aim for general applicability with a generic object detector, a fast grasp selection algorithm and by using…
Collaborative robots became a popular tool for increasing productivity in partly automated manufacturing plants. Intuitive robot teaching methods are required to quickly and flexibly adapt the robot programs to new tasks. Gestures have an…
Robots are expected to manipulate objects in a safe and dexterous way. For example, washing dishes is a dexterous operation that involves scrubbing the dishes with a sponge and rinsing them with water. It is necessary to learn it safely…
Rapid robotic system development sets a demand for multi-disciplinary methods and tools to explore and compare design alternatives. In this paper, we present collaborative modeling that combines discrete-event models of controller software…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
My research aims to design systems for complex sensemaking by remotely located non-expert collaborators (crowds), to solve computationally hard problems like crimes.
Optics is foundational to research in many areas of science and engineering, including nanophotonics, quantum information, materials science, biomedical imaging, and metrology. However, the design, assembly, and alignment of optical…
Climate change is one of the defining challenges of the 21st century, and many in the robotics community are looking for ways to contribute. This paper presents a roadmap for climate-relevant robotics research, identifying high-impact…
Many recent advances in robotic manipulation have come through imitation learning, yet these rely largely on mimicking a particularly hard-to-acquire form of demonstrations: those collected on the same robot in the same room with the same…
We address the unsupervised learning of several interconnected problems in low-level vision: single view depth prediction, camera motion estimation, optical flow, and segmentation of a video into the static scene and moving regions. Our key…
In order to autonomously learn wide repertoires of complex skills, robots must be able to learn from their own autonomously collected data, without human supervision. One learning signal that is always available for autonomously collected…
In brain-machine interface (BMI) applications, a key challenge is the low information content and high noise level in neural signals, severely affecting stable robotic control. To address this challenge, we proposes a cooperative shared…
Collaborative perception is essential to address occlusion and sensor failure issues in autonomous driving. In recent years, theoretical and experimental investigations of novel works for collaborative perception have increased…
Collaboration requires agents to coordinate their behavior on the fly, sometimes cooperating to solve a single task together and other times dividing it up into sub-tasks to work on in parallel. Underlying the human ability to collaborate…
Computer vision (CV) techniques try to mimic human capabilities of visual perception to support labor-intensive and time-consuming tasks like the recognition and localization of critical objects. Nowadays, CV increasingly relies on…
Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…