Related papers: RCareWorld: A Human-centric Simulation World for C…
RL is increasingly being used to control robotic systems that interact closely with humans. This interaction raises the problem of safe RL: how to ensure that a RL-controlled robotic system never, for instance, injures a human. This problem…
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…
The field of robotics has made significant strides toward developing generalist robot manipulation policies. However, evaluating these policies in real-world scenarios remains time-consuming and challenging, particularly as the number of…
Existing work in physical robot caregiving is limited in its ability to provide long-term assistance. This is majorly due to (i) lack of well-defined problems, (ii) diversity of tasks, and (iii) limited access to stakeholders from the…
As robots increasingly coexist with humans, they must navigate complex, dynamic environments rich in visual information and implicit social dynamics, like when to yield or move through crowds. Addressing these challenges requires…
Evaluating robot control policies is difficult: real-world testing is costly, and handcrafted simulators require manual effort to improve in realism and generality. We propose a world-model-based policy evaluation environment (WorldGym), an…
Humanoid robots that can autonomously operate in diverse environments have the potential to help address labour shortages in factories, assist elderly at homes, and colonize new planets. While classical controllers for humanoid robots have…
As the aging population increases and the shortage of healthcare workers increases, the need to examine other means for caring for the aging population increases. One such means is the use of humanoid robots to care for social, emotional,…
We propose VRGym, a virtual reality testbed for realistic human-robot interaction. Different from existing toolkits and virtual reality environments, the VRGym emphasizes on building and training both physical and interactive agents for…
Recent Foundation Model-enabled robotics (FMRs) display greatly improved general-purpose skills, enabling more adaptable automation than conventional robotics. Their ability to handle diverse tasks thus creates new opportunities to replace…
Robots are increasingly working alongside people, delivering food to patrons in restaurants or helping workers on assembly lines. These scenarios often involve object handovers between the person and the robot. To achieve safe and efficient…
As robotic products become more integrated into daily life, there is a greater need to understand authentic and real-world human-robot interactions to inform product design. Across many domestic, educational, and public settings, robots…
The field of Human-Robot Collaboration (HRC) has seen a considerable amount of progress in recent years. Thanks in part to advances in control and perception algorithms, robots have started to work in increasingly unstructured environments,…
As robotic technology advances, the barriers to the coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, collaborative manipulation, etc., are considered the need of…
Recent research has been increasingly focusing on developing 3D world models that simulate complex real-world scenarios. World models have found broad applications across various domains, including embodied AI, autonomous driving,…
Robots have the potential to be a game changer in healthcare: improving health and well-being, filling care gaps, supporting care givers, and aiding health care workers. However, before robots are able to be widely deployed, it is crucial…
Deployment of Reinforcement Learning (RL) algorithms for robotics applications in the real world requires ensuring the safety of the robot and its environment. Safe Robot RL (SRRL) is a crucial step towards achieving human-robot…
Humanoid robots, with their human-like form, are uniquely suited for interacting in environments built for people. However, enabling humanoids to reason, plan, and act in complex open-world settings remains a challenge. World models, models…
We introduce AgentWorld, an interactive simulation platform for developing household mobile manipulation capabilities. Our platform combines automated scene construction that encompasses layout generation, semantic asset placement, visual…
We present an ongoing project that aims to develop a social robot to help children cope with painful and distressing medical procedures in a clinical setting. Our approach uses automated planning as a core component for action selection in…