Related papers: Enhancing Human-Robot Collaboration Transportation…
Common experience suggests that agents who know each other well are better able to work together. In this work, we address the problem of calibrating intention and capabilities in human-robot collaboration. In particular, we focus on…
The Human-Autonomy Teaming paradigm (HAT) has recently emerged to model and design hybrid teams, where a human operator must cooperate with an artificial agent, able to independently evolve in dynamic and uncertain situations. An important…
Human-robot collaboration requires the contactless estimation of the physical properties of containers manipulated by a person, for example while pouring content in a cup or moving a food box. Acoustic and visual signals can be used to…
In this paper, we describe the development of symbolic representations annotated on human-robot dialogue data to make dimensions of meaning accessible to autonomous systems participating in collaborative, natural language dialogue, and to…
Collaborative robots require effective human intention estimation to safely and smoothly work with humans in less structured tasks such as industrial assembly, where human intention continuously changes. We propose the concept of intention…
Safe and efficient collaboration among multiple robots in unstructured environments is increasingly critical in the era of Industry 4.0. However, achieving robust and autonomous collaboration among humans and other robots requires modern…
The growing interest in human-robot collaboration (HRC), where humans and robots cooperate towards shared goals, has seen significant advancements over the past decade. While previous research has addressed various challenges, several key…
Attention (and distraction) recognition is a key factor in improving human-robot collaboration. We present an assembly scenario where a human operator and a cobot collaborate equally to piece together a gearbox. The setup provides multiple…
Recognising the characteristics of objects while a robot handles them is crucial for adjusting motions that ensure stable and efficient interactions with containers. Ahead of realising stable and efficient robot motions for…
Teleoperation is essential for autonomous robot learning, especially in manipulation tasks that require human demonstrations or corrections. However, most existing systems only offer unilateral robot control and lack the ability to…
Mobile telepresence robots (MTRs) have become increasingly popular in the expanding world of remote work, providing new avenues for people to actively participate in activities at a distance. However, humans operating MTRs often have…
Taking over arbitrary tasks like humans do with a mobile service robot in open-world settings requires a holistic scene perception for decision-making and high-level control. This paper presents a human-inspired scene perception model to…
In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…
As technology advances, the barriers between the co-existence of humans and robots are slowly coming down. The prominence of physical interactions for collaboration and cooperation between humans and robots will be an undeniable fact.…
A significant element of human cooperative intelligence lies in our ability to identify opportunities for fruitful collaboration; and conversely to recognise when the task at hand is better pursued alone. Research on flexible cooperation in…
We introduce HCLM, a hierarchical framework for general-purpose cooperative loco-manipulation with dual quadrupedal systems. Coordinating multi-robot collaborative manipulation across floating bases is highly challenging due to the…
Robots operating in unstructured environments face significant challenges when interacting with everyday objects like doors. They particularly struggle to generalize across diverse door types and conditions. Existing vision-based and…
Human-robot collaboration in construction is often challenged by limited robot-to-human communication and the need to adapt to tolerance accumulation arising from material and assembly uncertainties. We present an adaptive human-robot…
We present a decentralized, agent agnostic, and safety-aware control framework for human-robot collaboration based on Virtual Model Control (VMC). In our approach, both humans and robots are embedded in the same virtual-component-shaped…
In order to collaborate safely and efficiently, robots need to anticipate how their human partners will behave. Some of today's robots model humans as if they were also robots, and assume users are always optimal. Other robots account for…