Related papers: Safe and Efficient Exploration of Human Models Dur…
Safe human-robot interactions require robots to be able to learn how to behave appropriately in \sout{humans' world} \rev{spaces populated by people} and thus to cope with the challenges posed by our dynamic and unstructured environment,…
Autonomous agents (robots) face tremendous challenges while interacting with heterogeneous human agents in close proximity. One of these challenges is that the autonomous agent does not have an accurate model tailored to the specific human…
An outstanding challenge with safety methods for human-robot interaction is reducing their conservatism while maintaining robustness to variations in human behavior. In this work, we propose that robots use confidence-aware game-theoretic…
In planning for future human space exploration, it is important to consider how to design for uplifting interpersonal communications and social dynamics among crew members. What if embodied social robots could help to improve the overall…
We focus on the problem of how we can enable a robot to collaborate seamlessly with a human partner, specifically in scenarios where preexisting data is sparse. Much prior work in human-robot collaboration uses observational models of…
As collaborative robots enter industrial shop floors, logistics, and manufacturing, rapid and flexible evaluation of human-machine interaction has become more important. The availability of consumer headsets for virtual and augmented…
Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation is the exploration of the dynamics of the environment when…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
Human-robot interactions have been recognized to be a key element of future industrial collaborative robots (co-robots). Unlike traditional robots that work in structured and deterministic environments, co-robots need to operate in highly…
Ensuring human safety in collaborative robotics can compromise efficiency because traditional safety measures increase robot cycle time when human interaction is frequent. This paper proposes a safety-aware approach to mitigate efficiency…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
Control systems are critical to modern technological infrastructure, spanning industries from aerospace to healthcare. This survey explores the landscape of safe robot learning, investigating methods that balance high-performance control…
As environments involving both robots and humans become increasingly common, so does the need to account for people during planning. To plan effectively, robots must be able to respond to and sometimes influence what humans do. This…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…
Human-robot collaboration (HRC) is an emerging trend of robotics that promotes the co-presence and cooperation of humans and robots in common workspaces. Physical vicinity and interaction between humans and robots, combined with the…
This paper addresses motion replanning in human-robot collaborative scenarios, emphasizing reactivity and safety-compliant efficiency. While existing human-aware motion planners are effective in structured environments, they often struggle…
The future will be replete with scenarios where humans are robots will be working together in complex environments. Teammates interact, and the robot's interaction has to be about getting useful information about the human's (teammate's)…
We introduce a novel simulation-based approach to identify hazards that result from unexpected worker behavior in human-robot collaboration. Simulation-based safety testing must take into account the fact that human behavior is variable and…
The recent revolution of intelligent systems made it possible for robots and autonomous systems to work alongside humans, collaborating with them and supporting them in many domains. It is undeniable that this interaction can have huge…
Robot understanding of human intentions is essential for fluid human-robot interaction. Intentions, however, cannot be directly observed and must be inferred from behaviors. We learn a model of adaptive human behavior conditioned on the…