Related papers: Visualizing Robot Intent for Object Handovers with…
Quadruped robots are showing impressive abilities to navigate the real world. If they are to become more integrated into society, social trust in interactions with humans will become increasingly important. Additionally, robots will need to…
Robots often need to convey information to human users. For example, robots can leverage visual, auditory, and haptic interfaces to display their intent or express their internal state. In some scenarios there are socially agreed upon…
Human drone interaction in autonomous navigation incorporates spatial interaction tasks, including reconstructed 3D map from the drone and human desired target position. Augmented Reality (AR) devices can be powerful interactive tools for…
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…
We present an augmented reality human-swarm interface that combines two modalities of interaction: environment-oriented and robot-oriented. The environment-oriented modality allows the user to modify the environment (either virtual or…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
Interactive object understanding, or what we can do to objects and how is a long-standing goal of computer vision. In this paper, we tackle this problem through observation of human hands in in-the-wild egocentric videos. We demonstrate…
Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…
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…
In this paper, we present the implementation details of a Virtual Reality (VR)-based teleoperation interface for moving a robotic manipulator. We propose an iterative human-in-the-loop design where the user sets the next task-space waypoint…
Human teams exhibit both implicit and explicit intention sharing. To further development of human-robot collaboration, intention recognition is crucial on both sides. Present approaches rely on a vast sensor suite on and around the robot to…
When a human dyad jointly manipulates an object, they must communicate about their intended motion plans. Some of that collaboration is achieved through the motion of the manipulated object itself, which we call "haptic communication." In…
One huge advantage of Augmented Reality (AR) is its numerous possibilities of displaying information in the physical world, especially when applying Situated Analytics (SitA). AR devices and their respective interaction techniques allow for…
We address the problem of interactively controlling the workspace of a mobile robot to ensure a human-aware navigation. This is especially of relevance for non-expert users living in human-robot shared spaces, e.g. home environments, since…
The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…
Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason about how multiple objects relate to one another and how those relations may change as the robot interacts with the world. To this end, we…
Task-oriented object grasping and rearrangement are critical skills for robots to accomplish different real-world manipulation tasks. However, they remain challenging due to partial observations of the objects and shape variations in…
In this preliminary study, we investigate changes in handover behaviour when transferring hazardous objects with the help of a high-resolution touch sensor. Participants were asked to hand over a safe and hazardous object (a full cup and an…
Research indicates that humans can mistakenly assume that robots and humans have the same field of view, possessing an inaccurate mental model of robots. This misperception may lead to failures during human-robot collaboration tasks where…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…