Related papers: DULA: A Differentiable Ergonomics Model for Postur…
A fundamental requirement for real-world robotic deployment is the ability to understand and respond to natural language instructions. Existing language-conditioned manipulation tasks typically assume that instructions are perfectly aligned…
Self-adaptive robots operate in dynamic, unpredictable environments where unaddressed uncertainties can lead to safety violations and operational failures. However, systematically identifying and analyzing these uncertainties, including…
The high prevalence of work-related musculoskeletal disorders (WMSDs) could be addressed by optimizing Human-Robot Collaboration (HRC) frameworks for manufacturing applications. In this context, this paper proposes two hypotheses for…
Deep Reinforcement Learning (DRL) has achieved great success in solving complicated decision-making problems. Despite the successes, DRL is frequently criticized for many reasons, e.g., data inefficient, inflexible and intractable reward…
Accurate deformable object manipulation (DOM) is essential for achieving autonomy in robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM methods can be powered by simulation, which ensures realistic…
With the rise of large language models, neural text summarization has advanced significantly in recent years. However, even state-of-the-art models continue to rely heavily on high-quality human-annotated data for training and evaluation.…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
As deep neural networks develop significantly more diverse and complex, achieving high performance and efficiency on complicated DNN models faces pressing challenges. Modern DNN workloads are increasingly diverse in operation types, tensor…
The emergence of vision-language-action (VLA) models has given rise to foundation models for robot manipulation. Although these models have achieved significant improvements, their generalization in multi-task manipulation remains limited.…
Numerous diseases and aging can cause degeneration of people's balance ability resulting in limited mobility and even high risks of fall. Robotic technologies can provide more intensive rehabilitation exercises or be used as assistive…
It has been reported that virtual reality can be a useful tool for ergonomics study. The proposed integrated simulation system aims at measuring operator's performance in an interactive way for 2D control panel design. By incorporating some…
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…
Digital prototyping and evaluation using 3D modeling and digital human models are becoming more practical for customizing products to the preference of a user. However, the 3D modeling is less accessible to casual users, and digital human…
Conjoined collaborative robots, functioning as supernumerary robotic bodies (SRBs), can enhance human load tolerance abilities. However, in tasks involving physical interaction with humans, users may still adopt awkward, non-ergonomic…
Fine-tuning large language models (LLMs) to align with human preferences has driven the success of systems such as Gemini and ChatGPT. However, approaches like Reinforcement Learning from Human Feedback (RLHF) remain computationally…
Reinforcement learning (RL) has become a critical paradigm for LLM post-training, yet the rollout phase -- accounting for 50--80% of total step time -- is bottlenecked by skewed generation: long-tailed trajectories indispensable for model…
The safe deployment of autonomous systems in safety-critical settings requires a paradigm that combines human expertise with AI-driven analysis, especially when anomalies are unforeseen. We introduce AURA (Autonomous Resilience Agent), a…
Challenges of enhancing productivity by amplifying efficiency and man-machine compatibility of equipment can be achieved by adopting advanced technologies. This study aims to present and exemplify methodology for incorporating ergonomics…
Exoskeletons and orthoses are wearable mobile systems providing mechanical benefits to the users. Despite significant improvements in the last decades, the technology is not fully mature to be adopted for strenuous and non-programmed tasks.…
A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the effects of their actions in a dynamic environment. Several methods have been proposed to learn dynamics…