Related papers: Rearrange Indoor Scenes for Human-Robot Co-Activit…
Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…
We present Habitat 3.0: a simulation platform for studying collaborative human-robot tasks in home environments. Habitat 3.0 offers contributions across three dimensions: (1) Accurate humanoid simulation: addressing challenges in modeling…
Despite cobots have high potential in bringing several benefits in the manufacturing and logistic processes, but their rapid (re-)deployment in changing environments is still limited. To enable fast adaptation to new product demands and to…
When robots entered our day-to-day life, the shared space surrounding humans and robots is critical for effective Human-Robot collaboration. The design of shared space should satisfy humans' preferences and robots' efficiency. This work…
Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges…
In this paper, we present an approach for robot learning of social affordance from human activity videos. We consider the problem in the context of human-robot interaction: Our approach learns structural representations of human-human (and…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
We focus on push-based multi-object rearrangement planning using a nonholonomically constrained mobile robot. The simultaneous geometric, kinematic, and physics constraints make this problem especially challenging. Prior work on…
We present a Sequential Mobile Manipulation Planning (SMMP) framework that can solve long-horizon multi-step mobile manipulation tasks with coordinated whole-body motion, even when interacting with articulated objects. By abstracting…
Object rearrangement is the problem of enabling a robot to identify the correct object placement in a complex environment. Prior work on object rearrangement has explored a diverse set of techniques for following user instructions to…
Humans are in constant contact with the world as they move through it and interact with it. This contact is a vital source of information for understanding 3D humans, 3D scenes, and the interactions between them. In fact, we demonstrate…
Spatial computing experiences are physically constrained by the geometry and semantics of the local user environment. This limitation is elevated in remote multi-user interaction scenarios, where finding a common virtual ground physically…
In collective systems, the available agents are a limited resource that must be allocated among tasks to maximize collective performance. Computing the optimal allocation of several agents to numerous tasks through a brute-force approach…
Enabling humans and robots to collaborate effectively requires purposeful communication and an understanding of each other's affordances. Prior work in human-robot collaboration has incorporated knowledge of human affordances, i.e., their…
Robotics has been a popular field of research in the past few decades, with much success in industrial applications such as manufacturing and logistics. This success is led by clearly defined use cases and controlled operating environments.…
Humans universally dislike the task of cleaning up a messy room. If machines were to help us with this task, they must understand human criteria for regular arrangements, such as several types of symmetry, co-linearity or co-circularity,…
Rearranging objects on a tabletop surface by means of nonprehensile manipulation is a task which requires skillful interaction with the physical world. Usually, this is achieved by precisely modeling physical properties of the objects,…
We present the task of "Social Rearrangement", consisting of cooperative everyday tasks like setting up the dinner table, tidying a house or unpacking groceries in a simulated multi-agent environment. In Social Rearrangement, two robots…
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…
This study presents a system integration approach for planning schedules, sequences, tasks, and motions for reconfigurable robots to automatically disassemble constrained structures in a non-destructive manner. Such systems must adapt their…