Related papers: "Grip-that-there": An Investigation of Explicit an…
For effective human-robot collaboration, a robot must align its actions with human goals, even as they change mid-task. Prior approaches often assume fixed goals, reducing goal prediction to a one-time inference. However, in real-world…
Producing robust task plans in human-robot collaborative missions is a critical activity in order to increase the likelihood of these missions completing successfully. Despite the broad research body in the area, which considers different…
Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
Since the recent Covid-19 pandemic, mobile manipulators and humanoid assistive robots with higher levels of autonomy have increasingly been adopted for patient care and living assistance. Despite advancements in autonomy, these robots often…
We focus on the problem of designing an artificial agent (AI), capable of assisting a human user to complete a task. Our goal is to guide human users towards optimal task performance while keeping their cognitive load as low as possible.…
This paper presents a human-robot trust integrated task allocation and motion planning framework for multi-robot systems (MRS) in performing a set of tasks concurrently. A set of task specifications in parallel are conjuncted with MRS to…
We present a method for learning a human-robot collaboration policy from human-human collaboration demonstrations. An effective robot assistant must learn to handle diverse human behaviors shown in the demonstrations and be robust when the…
It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…
Shared-autonomy imitation learning lets a human correct a robot in real time, mitigating covariate-shift errors. Yet existing approaches ignore two critical factors: (i) the operator's cognitive load and (ii) the risk created by delayed or…
The recognition of actions performed by humans and the anticipation of their intentions are important enablers to yield sociable and successful collaboration in human-robot teams. Meanwhile, robots should have the capacity to deal with…
Compared with the widely investigated homogeneous multi-robot collaboration, heterogeneous robots with different capabilities can provide a more efficient and flexible collaboration for more complex tasks. In this paper, we consider a more…
In physical Human-Robot Collaboration (pHRC), accurate human intent estimation and rational human-robot role allocation are crucial for safe and efficient assistance. Existing methods that rely on short-term motion data for intention…
This paper explores a physical human-robot collaboration (pHRC) task involving the joint insertion of a board into a frame by a sightless robot and a human operator. While admittance control is commonly used in pHRC tasks, it can be…
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…
In human-robot collaboration, the objectives of the human are often unknown to the robot. Moreover, even assuming a known objective, the human behavior is also uncertain. In order to plan a robust robot behavior, a key preliminary question…
In collaborative human-robot order picking systems, human pickers and Autonomous Mobile Robots (AMRs) travel independently through a warehouse and meet at pick locations where pickers load items onto the AMRs. In this paper, we consider an…
Cloud Robotics is helping to create a new generation of robots that leverage the nearly unlimited resources of large data centers (i.e., the cloud), overcoming the limitations imposed by on-board resources. Different processing power,…
As humans, robots, and software agents increasingly share safety-critical environments, coordination must move from static task allocation to managing uncertain commitments. Existing frameworks fall short: they either assume rigid, static…
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…