Related papers: SARI: Shared Autonomy across Repeated Interaction

There is a close connection between health and the quality of one's social life. Strong social bonds are essential for health and wellbeing, but often health conditions can detrimentally affect a person's ability to interact with others.…

Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…

Due to real-world dynamics and hardware uncertainty, robots inevitably fail in task executions, resulting in undesired or even dangerous executions. In order to avoid failures and improve robot performance, it is critical to identify and…

Prediction is an appealing objective for self-supervised learning of behavioral skills, particularly for autonomous robots. However, effectively utilizing predictive models for control, especially with raw image inputs, poses a number of…

Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two modalities, such as vision and touch. In this work, we…

Robots operating alongside humans often encounter unfamiliar environments that make autonomous task completion challenging. Though improving models and increasing dataset size can enhance a robot's performance in unseen environments, data…

Cognitive cooperative assistance in robot-assisted surgery holds the potential to increase quality of care in minimally invasive interventions. Automation of surgical tasks promises to reduce the mental exertion and fatigue of surgeons. In…

Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…

Shared control allows the human driver to collaborate with an assistive driving system while retaining the ability to make decisions and take control if necessary. However, human-vehicle teaming and planning are challenging due to…

The past few years have seen rapid progress in the development of service robots. Universities and companies alike have launched major research efforts toward the deployment of ambitious systems designed to aid human operators performing a…

Self/other distinction and self-recognition are important skills for interacting with the world, as it allows humans to differentiate own actions from others and be self-aware. However, only a selected group of animals, mainly high order…

Safe reinforcement learning has traditionally relied on predefined constraint functions to ensure safety in complex real-world tasks, such as autonomous driving. However, defining these functions accurately for varied tasks is a persistent…

Humans can achieve diverse in-hand manipulations, such as object pinching and tool use, which often involve simultaneous contact between the object and multiple fingers. This is still an open issue for robotic hands because such dexterous…

Owing to the recent success of Large Language Models, Modern A.I has been much focused on linguistic interactions with humans but less focused on non-linguistic forms of communication between man and machine. In the present paper, we test…

A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…

Humans demonstrate an impressive ability to acquire and generalize manipulation "tricks." Even from a single demonstration, such as using soup ladles to reach for distant objects, we can apply this skill to new scenarios involving different…

In brain-machine interface (BMI) applications, a key challenge is the low information content and high noise level in neural signals, severely affecting stable robotic control. To address this challenge, we proposes a cooperative shared…

Interest in semi-autonomous systems (SAS) is growing rapidly as a paradigm to deploy autonomous systems in domains that require occasional reliance on humans. This paradigm allows service robots or autonomous vehicles to operate at varying…

To collaborate with humans, robots must infer goals that are often ambiguous, difficult to articulate, or not drawn from a fixed set. Prior approaches restrict inference to a predefined goal set, rely only on observed actions, or depend…

Ideally, we would place a robot in a real-world environment and leave it there improving on its own by gathering more experience autonomously. However, algorithms for autonomous robotic learning have been challenging to realize in the real…