Related papers: Audio-Visual Object Classification for Human-Robot…
Many objects commonly found in household and industrial environments are represented by cylindrical and cubic shapes. Thus, it is available for robots to manipulate them through the real-time detection of elliptic and rectangle shape…
This paper tackles the challenging task of evaluating socially situated conversational robots and presents a novel objective evaluation approach that relies on multimodal user behaviors. In this study, our main focus is on assessing the…
Existing robotic manipulation methods primarily rely on visual and proprioceptive observations, which may struggle to infer contact-related interaction states in partially observable real-world environments. Acoustic cues, by contrast,…
In human-robot cooperation, the robot cooperates with humans to accomplish the task together. Existing approaches assume the human has a specific goal during the cooperation, and the robot infers and acts toward it. However, in real-world…
We present a robot-to-human object handover algorithm and implement it on a 7-DOF arm equipped with a 3-finger mechanical hand. The system performs a fully autonomous and robust object handover to a human receiver in real-time. Our…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…
Autonomous manipulation of articulated objects remains a fundamental challenge for robots in human environments. Vision-based methods can infer hidden kinematics but can yield imprecise estimates on unfamiliar objects. Tactile approaches…
We propose a dataset to study the influence of object-specific characteristics on human pick-and-place movements and compare the quality of the motion kinematics extracted by various sensors. This dataset is also suitable for promoting a…
We explore the problem of estimating the mass distribution of an articulated object by an interactive robotic agent. Our method predicts the mass distribution of an object by using the limited sensing and actuating capabilities of a robotic…
``Bring me a plate.'' For domestic service robots, this simple command reveals a complex challenge: inferring where everyday items are stored, often out of sight in drawers, cabinets, or closets. Despite advances in vision and manipulation,…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
Collaborative manipulation is inherently multimodal, with haptic communication playing a central role. When performed by humans, it involves back-and-forth force exchanges between the participants through which they resolve possible…
A holistic understanding of object properties across diverse sensory modalities (e.g., visual, audio, and haptic) is essential for tasks ranging from object categorization to complex manipulation. Drawing inspiration from cognitive science…
We introduce a new challenge for computer and robotic vision, the first ACRV Robotic Vision Challenge, Probabilistic Object Detection. Probabilistic object detection is a new variation on traditional object detection tasks, requiring…
Bidirectional object handover between a human and a robot enables an important functionality skill in robotic human-centered manufacturing or services. The problem in achieving this skill lies in the capacity of any solution to deal with…
Inertial parameters characterise an object's motion under applied forces, and can provide strong priors for planning and control of robotic actions to manipulate the object. However, these parameters are not available a-priori in situations…
Direct physical interaction with robots is becoming increasingly important in flexible production scenarios, but robots without protective fences also pose a greater risk to the operator. In order to keep the risk potential low, relatively…
The increasing labor shortage and aging population underline the need for assistive robots to support human care recipients. To enable safe and responsive assistance, robots require accurate human motion prediction in physical interaction…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…