Related papers: Intuitive Tasks Planning Using Visuo-Tactile Perce…

My overarching research goal is to provide robots with perceptional abilities that allow interactions with humans in a human-like manner. To develop these perceptional abilities, I believe that it is useful to study the principles of the…

Predicting the outcomes of robotic actions, often referred to as learning a world model, in complex environments remains a fundamental challenge in robotics. Existing approaches primarily rely on visual observations and action inputs to…

In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…

Active perception, the ability of a robot to proactively adjust its viewpoint to acquire task-relevant information, is essential for robust operation in unstructured real-world environments. While critical for downstream tasks such as…

Autonomous manipulation of articulated objects remains a fundamental challenge for robots in human environments. Vision-based methods can infer hidden kinematics but can yield imprecise estimates on unfamiliar objects. Tactile approaches…

Current robots are capable of computing plans to accomplish complex tasks. However, real-world environments are inherently open and dynamic, and unforeseen situations frequently arise during plan execution, such as jamming doors and fallen…

Prospection, the act of predicting the consequences of many possible futures, is intrinsic to human planning and action, and may even be at the root of consciousness. Surprisingly, this idea has been explored comparatively little in…

The raise of collaborative robotics has led to wide range of sensor technologies to detect human-machine interactions: at short distances, proximity sensors detect nontactile gestures virtually occlusion-free, while at medium distances,…

Collaborative robotics requires effective communication between a robot and a human partner. This work proposes a set of interpretive principles for how a robotic arm can use pointing actions to communicate task information to people by…

Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial parameters have only been estimated in a lab environment…

Tactile and visual perception are both crucial for humans to perform fine-grained interactions with their environment. Developing similar multi-modal sensing capabilities for robots can significantly enhance and expand their manipulation…

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…

To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…

Employing skin-like tactile sensors on robots enhances both the safety and usability of collaborative robots by adding the capability to detect human contact. Unfortunately, simple binary tactile sensors alone cannot determine the context…

Robots operating alongside humans often encounter unfamiliar environments that make autonomous task completion challenging. Though improving models and increasing dataset size can enhance a robot's performance in unseen environments, data…

Collaborative robots require effective human intention estimation to safely and smoothly work with humans in less structured tasks such as industrial assembly, where human intention continuously changes. We propose the concept of intention…

Within this work, we explore intention inference for user actions in the context of a handheld robot setup. Handheld robots share the shape and properties of handheld tools while being able to process task information and aid manipulation.…

Consensus between humans and robots is crucial as robotic agents become more prevalent and deeply integrated into our daily lives. This integration presents both unprecedented opportunities and notable challenges for effective…

Gaze is a crucial social cue in any interacting scenario and drives many mechanisms of social cognition (joint and shared attention, predicting human intention, coordination tasks). Gaze direction is an indication of social and emotional…

Humans possess the innate ability to extract latent visuo-lingual cues to infer context through human interaction. During collaboration, this enables proactive prediction of the underlying intention of a series of tasks. In contrast,…