Related papers: GoferBot: A Visual Guided Human-Robot Collaborativ…
Human-robot interaction requires a common understanding of the operational environment, which can be provided by a representation that blends geometric and symbolic knowledge: a semantic map. Through a semantic map the robot can interpret…
When humans work together to complete a joint task, each person builds an internal model of the situation and how it will evolve. Efficient collaboration is dependent on how these individual models overlap to form a shared mental model…
Assembly hinges on reliably forming connections between parts; yet most robotic approaches plan assembly sequences and part poses while treating connectors as an afterthought. Connections represent the foundational physical constraints of…
Visual reasoning, particularly spatial reasoning, is a challenging cognitive task that requires understanding object relationships and their interactions within complex environments, especially in robotics domain. Existing vision_language…
Robots are ubiquitous in small-to-large-scale manufacturers. While collaborative robots (cobots) have significant potential in these settings due to their flexibility and ease of use, proper integration is critical to realize their full…
Assembling a slave object into a fixture-free master object represents a critical challenge in flexible manufacturing. Existing deep reinforcement learning-based methods, while benefiting from visual or operational priors, often struggle…
This paper demonstrates the groundwork for the structure and nature of Human-Robot Cognitive Coupling.The human mind is best at associating objects, while digital devices can only compare. Successful communication between robot and human…
Rapid advancements in artificial intelligence (AI) have enabled robots to performcomplex tasks autonomously with increasing precision. However, multi-robot systems (MRSs) face challenges in generalization, heterogeneity, and safety,…
Robotic fleets can be extremely efficient when working concurrently and collaboratively, e.g., for delivery, surveillance, search and rescue. However, it can be demanding or even impractical for an operator to directly control each robot.…
Autonomous robotic systems are widely deployed in smart factories and operate in dynamic, uncertain, and human-involved environments that require low-latency and robust fault detection and recovery (FDR). However, existing FDR frameworks…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…
It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…
Geometric organization of objects into semantically meaningful arrangements pervades the built world. As such, assistive robots operating in warehouses, offices, and homes would greatly benefit from the ability to recognize and rearrange…
A key challenge towards the goal of multi-part assembly tasks is finding robust sensorimotor control methods in the presence of uncertainty. In contrast to previous works that rely on a priori knowledge on whether two parts match, we aim to…
Human-robot collaboration has benefited users with higher efficiency towards interactive tasks. Nevertheless, most collaborative schemes rely on complicated human-machine interfaces, which might lack the requisite intuitiveness compared…
Human robot interaction is an exciting task, which aimed to guide robots following instructions from human. Since huge gap lies between human natural language and machine codes, end to end human robot interaction models is fair challenging.…
There has been a growing utilization of industrial robots as complementary collaborators for human workers in re-manufacturing sites. Such a human-robot collaboration (HRC) aims to assist human workers in improving the flexibility and…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
Collaborative perception, an emerging paradigm in autonomous driving, has been introduced to mitigate the limitations of single-vehicle systems, such as limited sensor range and occlusion. To improve the robustness of inter-vehicle data…