Related papers: "Grip-that-there": An Investigation of Explicit an…
Human-robot teaming (HRT) systems often rely on large-scale datasets of human and robot interactions, especially for close-proximity collaboration tasks such as human-robot handovers. Learning robot manipulation policies from raw,…
We introduce a framework for cooperative manipulation, applied on an underactuated manipulation problem. Two stationary robotic manipulators are required to cooperate in order to reposition an object within their shared work space. Control…
This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job…
We want a multi-robot team to complete complex tasks in minimum time where the locations of task-relevant objects are not known. Effective task completion requires reasoning over long horizons about the likely locations of task-relevant…
We present the use of two methods we believe warrant more use than they currently have in the field of human-robot interaction: role-play and Hierarchical Task Analysis. Some of its potential is showcased through our use of them in an…
In human-robot collaboration (HRC), robots must adapt online to dynamic task constraints and evolving human intent. While physical corrections provide a natural, low-latency channel for operators to convey motion-level adjustments,…
Robots existed as separate entities till now, but the horizons of a symbiotic human-robot partnership are impending. Despite all the recent technical advances in terms of hardware, robots are still not endowed with desirable relational…
Multi-human multi-robot teams (MH-MR) obtain tremendous potential in tackling intricate and massive missions by merging distinct strengths and expertise of individual members. The inherent heterogeneity of these teams necessitates advanced…
Effective human-robot teaming is crucial for the practical deployment of robots in human workspaces. However, optimizing joint human-robot plans remains a challenge due to the difficulty of modeling individualized human capabilities and…
Autonomous robots have real-world applications in diverse fields, such as mobile manipulation and environmental exploration, and many such tasks benefit from a hands-off approach in terms of human user involvement over a long task horizon.…
As robots increasingly operate in shared, safety critical environments, acting safely is no longer sufficient robots must also make their safety decisions intelligible to human collaborators. In human robot collaboration (HRC), behaviours…
We present a framework for learning human user models from joint-action demonstrations that enables the robot to compute a robust policy for a collaborative task with a human. The learning takes place completely automatically, without any…
Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…
In human-robot cooperation, the robot cooperates with humans to accomplish the task together. Existing approaches assume the human has a specific goal during the cooperation, and the robot infers and acts toward it. However, in real-world…
Automation applications are pushing the deployment of many high DoF manipulators in warehouse and manufacturing environments. This has motivated many efforts on optimizing manipulation tasks involving a single arm. Coordinating multiple…
Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…
Humans can leverage hierarchical structures to split a task into sub-tasks and solve problems efficiently. Both imitation and reinforcement learning or a combination of them with hierarchical structures have been proven to be an efficient…
Securing petroleum infrastructure requires balancing autonomous system efficiency with human judgment for threat escalation, a challenge unaddressed by classical facility location models assuming homogeneous resources. This paper formulates…
This paper investigates how trust, shared understanding between a human operator and a robot, and the Locus of Control (LoC) personality trait, evolve and affect Human-Robot Interaction (HRI) in mixed-initiative robotic systems. As such…
In this letter, we investigate whether classical function allocation-the principle of assigning tasks to either a human or a machine-holds for physical Human-Robot Collaboration, which is important for providing insights for Industry 5.0 to…