Related papers: Learning Latent Actions to Control Assistive Robot…
Robots can use auditory, visual, or haptic interfaces to convey information to human users. The way these interfaces select signals is typically pre-defined by the designer: for instance, a haptic wristband might vibrate when the robot is…
Manipulating Deformable Linear Objects (DLOs) is challenging in robotics due to their infinite-dimensional configuration space and complex nonlinear dynamics. In teleoperation, depth uncertainty hinders state perception and reaction.…
Humans can achieve diverse in-hand manipulations, such as object pinching and tool use, which often involve simultaneous contact between the object and multiple fingers. This is still an open issue for robotic hands because such dexterous…
Chopsticks constitute a simple yet versatile tool that humans have used for thousands of years to perform a variety of challenging tasks ranging from food manipulation to surgery. Applying such a simple tool in a diverse repertoire of…
A successful robot-assisted feeding system requires bite acquisition of a wide variety of food items. It must adapt to changing user food preferences under uncertain visual and physical environments. Different food items in different…
Cyber human interaction is a broad term encompassing the range of interactions that humans can have with technology. While human interaction with fixed and mobile computers is well understood, the world is on the cusp of ubiquitous and…
Assistive agents should make humans' lives easier. Classically, such assistance is studied through the lens of inverse reinforcement learning, where an assistive agent (e.g., a chatbot, a robot) infers a human's intention and then selects…
To achieve a dexterous robotic manipulation, we need to endow our robot with tactile feedback capability, i.e. the ability to drive action based on tactile sensing. In this paper, we specifically address the challenge of tactile servoing,…
Enabling robots to provide effective assistance yet still accommodating the operator's commands for telemanipulation of an object is very challenging because robot's assistive action is not always intuitive for human operators and human…
Assistive robots have attracted significant attention due to their potential to enhance the quality of life for vulnerable individuals like the elderly. The convergence of computer vision, large language models, and robotics has introduced…
The current research standards in robotics demand general approaches to robots' controllers development. In the assistive robotics domain, the human-machine interaction plays a substantial role. Especially, the humans generate intents that…
Developing robots that can assist humans efficiently, safely, and adaptively is crucial for real-world applications such as healthcare. While previous work often assumes a centralized system for co-optimizing human-robot interactions, we…
Robotic manipulation of deformable objects gains great attention due to its wide applications including medical surgery, home assistance, and automatic food preparation. The ability to deform soft objects remains a great challenge for…
We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…
Intelligent agents must be able to think fast and slow to perform elaborate manipulation tasks. Reinforcement Learning (RL) has led to many promising results on a range of challenging decision-making tasks. However, in real-world robotics,…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predictive model that uniquely casts the user's sequential…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing…
Incorporating a robotic manipulator into a wheel-legged robot enhances its agility and expands its potential for practical applications. However, the presence of potential instability and uncertainties presents additional challenges for…