Related papers: Preemptive Motion Planning for Human-to-Robot Indi…

As humans, we have a remarkable capacity for reading the characteristics of objects only by observing how another person carries them. Indeed, how we perform our actions naturally embeds information on the item features. Collaborative…

This paper presents a hierarchical framework for planning and control of in-hand manipulation of a rigid object involving grasp changes using fully-actuated multifingered robotic hands. While the framework can be applied to the general…

We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may…

In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…

The ability to plan for multi-step manipulation tasks in unseen situations is crucial for future home robots. But collecting sufficient experience data for end-to-end learning is often infeasible in the real world, as deploying robots in…

In this paper we propose an approach for efficient grasp selection for manipulation tasks of unknown objects. Even for simple tasks such as pick-and-place, a unique solution is rare to occur. Rather, multiple candidate grasps must be…

Intelligent robots and machines are becoming pervasive in human populated environments. A desirable capability of these agents is to respond to goal-oriented commands by autonomously constructing task plans. However, such autonomy can add…

In ad-hoc human-robot collaboration (HRC), humans and robots work on a task without pre-planning the robot's actions prior to execution; instead, task allocation occurs in real-time. However, prior research has largely focused on task…

Ambiguity and noise in natural language instructions create a significant barrier towards adopting autonomous systems into safety critical workflows involving humans and machines. In this paper, we propose to build on recent advances in…

We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…

This paper presents a method for constructing human-robot interaction policies in settings where multimodality, i.e., the possibility of multiple highly distinct futures, plays a critical role in decision making. We are motivated in this…

Self-handover, transferring an object between one's own hands, is a common but understudied bimanual action. While it facilitates seamless transitions in complex tasks, the strategies underlying its execution remain largely unexplored.…

Mutual adaptation can significantly enhance overall task performance in human-robot co-transportation by integrating both the robot's and human's understanding of the environment. While human modeling helps capture humans' subjective…

High-level human instructions often correspond to behaviors with multiple implicit steps. In order for robots to be useful in the real world, they must be able to to reason over both motions and intermediate goals implied by human…

Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…

Intuitive and efficient physical human-robot collaboration relies on the mutual observability of the human and the robot, i.e. the two entities being able to interpret each other's intentions and actions. This is remedied by a myriad of…

Stowing, the task of placing objects in cluttered shelves or bins, is a common task in warehouse and manufacturing operations. However, this task is still predominantly carried out by human workers as stowing is challenging to automate due…

Autonomous robots are increasingly utilized in realistic scenarios with multiple complex tasks. In these scenarios, there may be a preferred way of completing all of the given tasks, but it is often in conflict with optimal execution.…

Learning from human demonstration is an effective approach for learning complex manipulation skills. However, existing approaches heavily focus on learning from passive human demonstration data for its simplicity in data collection.…

Humanoid robots could be versatile and intuitive human avatars that operate remotely in inaccessible places: the robot could reproduce in the remote location the movements of an operator equipped with a wearable motion capture device while…