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Adaptive task planning is fundamental to ensuring effective and seamless human-robot collaboration. This paper introduces a robot task planning framework that takes into account both human leading/following preferences and performance,…
Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…
This paper proposes an intent-aware multi-agent planning framework as well as a learning algorithm. Under this framework, an agent plans in the goal space to maximize the expected utility. The planning process takes the belief of other…
Blind individuals, who by necessity depend on screen readers to interact with computers, face considerable challenges in navigating the diverse and complex graphical user interfaces of different computer applications. The heterogeneity of…
Despite rapid progress in autonomous robotics, executing complex or long-horizon tasks remains a fundamental challenge. Most current approaches follow an open-loop paradigm with limited reasoning and no feedback, resulting in poor…
Large Language Models (LLMs) have demonstrated remarkable planning abilities across various domains, including robotics manipulation and navigation. While recent efforts in robotics have leveraged LLMs both for high-level and low-level…
Achieving precise and generalizable grasping across diverse objects and environments is essential for intelligent and collaborative robotic systems. However, existing approaches often struggle with ambiguous affordance reasoning and limited…
The grand aim of having a single robot that can manipulate arbitrary objects in diverse settings is at odds with the paucity of robotics datasets. Acquiring and growing such datasets is strenuous due to manual efforts, operational costs,…
ADROIT Manipulation platform is a pneumatically actuated, tendon driven 28 degree of freedom platform being developed for investigating complex hand manipulation behaviors. ADROIT derives its unique capabilities, necessary to support…
Robotic manipulation systems that follow language instructions often execute grasp primitives in a largely single-shot manner: a model proposes an action, the robot executes it, and failures such as empty grasps, slips, stalls, timeouts, or…
Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the critical aspects of robots' adaptability and error…
Fine-tuning is the primary mechanism for adapting foundation models to downstream tasks; however, standard approaches largely optimize task objectives in isolation and do not account for secondary yet critical alignment objectives (e.g.,…
For effective human-robot interaction, robots need to understand, plan, and execute complex, long-horizon tasks described by natural language. Recent advances in large language models (LLMs) have shown promise for translating natural…
Creating a design from modular components necessitates three steps: Acquiring knowledge about available components, conceiving an abstract design concept, and implementing that concept in a concrete design. The third step entails many…
Furniture assembly is a crucial yet challenging task for robots, requiring precise dual-arm coordination where one arm manipulates parts while the other provides collaborative support and stabilization. To accomplish this task more…
Large language models have paved the way to powerful and flexible AI agents, assisting humans by increasingly integrating into their daily life. This flexibility, potential, and growing adoption demands a holistic and cross-disciplinary…
With the increasing complexity of modern industrial automatic and robotic systems, an increasing burden is put on the operators, who are requested to supervise and interact with such complex systems, typically under challenging and…
Handheld paradigms offer an efficient and intuitive way for collecting large-scale demonstration of robot manipulation. However, achieving contact-rich bimanual manipulation through these methods remains a pivotal challenge, which is…
Upper-limb exoskeletons are primarily designed to provide assistive support by accurately interpreting and responding to human intentions. In home-care scenarios, exoskeletons are expected to adapt their assistive configurations based on…
Enabling robots to grasp and reposition human limbs can significantly enhance their ability to provide assistive care to individuals with severe mobility impairments, particularly in tasks such as robot-assisted bed bathing and dressing.…