Related papers: Situated Live Programming for Human-Robot Collabor…
Imitation learning from human demonstrations can teach robots complex manipulation skills, but is time-consuming and labor intensive. In contrast, Task and Motion Planning (TAMP) systems are automated and excel at solving long-horizon…
This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job…
In this paper, we present a model set for designing human-robot collaboration (HRC) experiments. It targets a common scenario in HRC, which is the collaborative assembly of furniture, and it consists of a combination of standard components…
This paper presents a novel framework enabling end-users to perform the management of complex robotic workplaces using a tablet and augmented reality. The framework allows users to commission the workplace comprising different types of…
This paper proposes a novel approach to scaling distributed collaboration in mixed reality by virtualizing collaborative tasks as independent, installable environments. By mapping group activities into dedicated virtual spaces that adapt to…
Human robot collaboration (HRC) is becoming increasingly important as the paradigm of manufacturing is shifting from mass production to mass customization. The introduction of HRC can significantly improve the flexibility and intelligence…
Recent progress in robot autonomy and safety has significantly improved human-robot interactions, enabling robots to work alongside humans on various tasks. However, complex assembly tasks still present significant challenges due to…
Human-robot collaboration (HRC) in a shared workspace has become a common pattern in real-world robot applications and has garnered significant research interest. However, most existing studies for human-in-the-loop (HITL) collaboration…
Technical advances in collaborative robots (cobots) are making them increasingly attractive to companies. However, many human operators are not trained to program complex machines. Instead, humans are used to communicating with each other…
In the rapidly evolving landscape of Human-Robot Collaboration (HRC), effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder…
The ability to specify robot commands by a non-expert user is critical for building generalist agents capable of solving a large variety of tasks. One convenient way to specify the intended robot goal is by a video of a person demonstrating…
Programming by demonstration (PbD) is an effective technique for developing complex robot manipulation tasks, such as opening bottles or using human tools. In order for such tasks to generalize to new scenes, the robot needs to be able to…
Lived experiences fundamentally shape how individuals interact with AI systems, influencing perceptions of safety, trust, and usability. While prior research has focused on developing techniques to emulate human preferences, and proposed…
Robotic manipulation is essential for the widespread adoption of robots in industrial and home settings and has long been a focus within the robotics community. Advances in artificial intelligence have introduced promising learning-based…
Interactive computational environments can help students explore algorithmic concepts through collaborative hands-on experimentation. However, static and instructor controlled demos in lectures limit engagement. Even when interactive…
Large language models are increasingly being explored as interfaces between humans and robotic systems, yet there remains limited evidence on how such technologies can be used not only for interaction, but also as a structured means of…
Assistive robotic systems have shown growing potential to improve the quality of life of those with disabilities. As researchers explore the automation of various caregiving tasks, considerations for how the technology can still preserve…
Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot…
Task and motion planning (TAMP) algorithms aim to help robots achieve task-level goals, while maintaining motion-level feasibility. This paper focuses on TAMP domains that involve robot behaviors that take extended periods of time (e.g.,…
"Code-as-Policy" considers how executable code can complement data-intensive Vision-Language-Action (VLA) methods, yet their effectiveness as autonomous controllers for embodied manipulation remains underexplored. We present CaP-X, an…