Related papers: Proximity Perception in Human-Centered Robotics: A…
When working around other agents such as humans, it is important to model their perception capabilities to predict and make sense of their behavior. In this work, we consider agents whose perception capabilities are determined by their…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…
Vision based human motion recognition has fascinated many researchers due to its critical challenges and a variety of applications. The applications range from simple gesture recognition to complicated behaviour understanding in…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…
Visually-guided underwater robots are deployed alongside human divers for cooperative exploration, inspection, and monitoring tasks in numerous shallow-water and coastal-water applications. The most essential capability of such companion…
To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…
It has always been expected that a robot can be easily deployed to unknown scenarios, accomplishing robotic grasping tasks without human intervention. Nevertheless, existing grasp detection approaches are typically off-body techniques and…
Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…
People feel attached to places that are meaningful to them, which psychological research calls "place attachment." Place attachment is associated with self-identity, self-continuity, and psychological well-being. Even small cues, including…
As deep learning continues to dominate all state-of-the-art computer vision tasks, it is increasingly becoming an essential building block for robotic perception. This raises important questions concerning the safety and reliability of…
Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…
For physical human-robot interactions (pHRI), a robot needs to estimate the accurate body pose of a target person. However, in these pHRI scenarios, the robot cannot fully observe the target person's body with equipped cameras because the…
Telepresence and teleoperation robotics have attracted a great amount of attention in the last 10 years. With the Artificial Intelligence (AI) revolution already being started, we can see a wide range of robotic applications being realized.…
Tactile perception is a crucial sensing modality in robotics, particularly in scenarios that require precise manipulation and safe interaction with other objects. Previous research in this area has focused extensively on tactile perception…
Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…
With the popularity of commercial wireless devices, the research based on RF signal has developed rapidly in the past decade. RF signals have great advantages in environmental perception. Wireless signals are transmitted through the…
Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…
Collision-free motion is often aided by tactile and proximity sensors distributed on the body of the robot due to their resistance to occlusion as opposed to external cameras. However, how to shape the sensor's properties, such as sensing…
Robots operating in populated environments encounter many different types of people, some of whom might have an advanced need for cautious interaction, because of physical impairments or their advanced age. Robots therefore need to…