Related papers: Desk Organization: Effect of Multimodal Inputs on …
Collective systems that self-organise to maximise the group's ability to collect and distribute information can be successful in environments with high spatial and temporal variation. Such organisations are abundant in nature, as sharing…
We tackle the problem of learning complex, general behaviors directly in the real world. We propose an approach for robots to efficiently learn manipulation skills using only a handful of real-world interaction trajectories from many…
Arranging objects correctly is a key capability for robots which unlocks a wide range of useful tasks. A prerequisite for creating successful arrangements is the ability to evaluate the desirability of a given arrangement. Our method…
Object rearrangement is a key task for household robots requiring personalization without explicit instructions, meaningful object placement in environments occupied with objects, and generalization to unseen objects and new environments.…
The growing presence of service robots in human-centric environments, such as warehouses, demands seamless and intuitive human-robot collaboration. In this paper, we propose a collaborative shelf-picking framework that combines multimodal…
A dynamic autonomy allocation framework automatically shifts how much control lies with the human versus the robotics autonomy, for example based on factors such as environmental safety or user preference. To investigate the question of…
Humans inherently possess generalizable visual representations that empower them to efficiently explore and interact with the environments in manipulation tasks. We advocate that such a representation automatically arises from…
Humans naturally understand 3D spatial relationships, enabling complex reasoning like predicting collisions of vehicles from different directions. Current large multimodal models (LMMs), however, lack of this capability of 3D spatial…
Recent techniques in dynamical scheduling and resource management have found applications in warehouse environments due to their ability to organize and prioritize tasks in a higher temporal resolution. The rise of deep reinforcement…
Achieving social acceptance is one of the main goals of Social Robotic Navigation. Despite this topic has received increasing interest in recent years, most of the research has focused on driving the robotic agent along obstacle-free…
This paper investigates manipulation of multiple unknown objects in a crowded environment. Because of incomplete knowledge due to unknown objects and occlusions in visual observations, object observations are imperfect and action success is…
Spatial functional organization is a hallmark of biological brains: neurons are arranged topographically according to their response properties, at multiple scales. In contrast, representations within most machine learning models lack…
In human-robot collaboration, the objectives of the human are often unknown to the robot. Moreover, even assuming a known objective, the human behavior is also uncertain. In order to plan a robust robot behavior, a key preliminary question…
Rearranging objects on a tabletop surface by means of nonprehensile manipulation is a task which requires skillful interaction with the physical world. Usually, this is achieved by precisely modeling physical properties of the objects,…
How do analysts think about grouping and spatial operations? This overarching question incorporates a number of points for investigation, including understanding how analysts begin to explore a dataset, the types of grouping/spatial…
We consider a living organism as an observer of the evolution of its environment recording sensory information about the state space X of the environment in real time. Sensory information is sampled and then processed on two levels. On the…
Humans, in comparison to robots, are remarkably adept at reaching for objects in cluttered environments. The best existing robot planners are based on random sampling of configuration space -- which becomes excessively high-dimensional with…
The relative spatial layout of a human and an object is an important cue for determining how they interact. However, until now, spatial layout has been used just as side-information for detecting human-object interactions (HOIs). In this…
Robotics has dramatically increased our ability to gather data about our environments, creating an opportunity for the robotics and algorithms communities to collaborate on novel solutions to environmental monitoring problems. To understand…
For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…