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Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees…

Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit such a large range of behaviors is a challenging problem…

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…

Human behavior modeling is important for the design and implementation of human-automation interactive control systems. In this context, human behavior refers to a human's control input to systems. We propose a novel method for human…

This work presents an optimization-based task and motion planning (TAMP) framework that unifies planning for locomotion and manipulation through a shared representation of contact modes. We define symbolic actions as contact mode changes,…

We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…

The anticipation of human behavior is a crucial capability for robots to interact with humans safely and efficiently. We employ a smart edge sensor network to provide global observations, future predictions, and goal information to…

We develop a theory for the temporal integration of visual motion motivated by psychophysical experiments. The theory proposes that input data are temporally grouped and used to predict and estimate the motion flows in the image sequence.…

Humans have internal models of robots (like their physical capabilities), the world (like what will happen next), and their tasks (like a preferred goal). However, human internal models are not always perfect: for example, it is easy to…

There is a belief that complexity and chaos are essential for adaptability. But life deals with complexity every moment, without the chaos that engineers fear so, by invoking goal-directed behaviour. Goals can be programmed. That is why…

Modeling how human moves in the space is useful for policy-making in transportation, public safety, and public health. Human movements can be viewed as a dynamic process that human transits between states (\eg, locations) over time. In the…

Long-term human motion prediction (LHMP) is important for the safe and efficient operation of autonomous robots and vehicles in environments shared with humans. Accurate predictions are important for applications including motion planning,…

We propose an online spatiotemporal articulation model estimation framework that estimates both articulated structure as well as a temporal prediction model solely using passive observations. The resulting model can predict future mo- tions…

Corrections offer a natural modality for people to provide feedback to a robot, by (i) intervening in the robot's behavior when they believe the robot is failing (or will fail) the task objectives and (ii) modifying the robot's behavior to…

Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts.…

Human motion prediction is a necessary component for many applications in robotics and autonomous driving. Recent methods propose using sequence-to-sequence deep learning models to tackle this problem. However, they do not focus on…

Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…

The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is the autonomy for dynamic robots, such as multirotors, motor…

Robot navigation in human semi-static and crowded environments can lead to the freezing problem, where the robot can not move due to the presence of humans standing on its path and no other path is available. Classical approaches of robot…

Animal swarms displaying a variety of typical flocking patterns would not exist without underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with…