Related papers: Language-Grounded Control for Coordinated Robot Mo…
Assistive robots have attracted significant attention due to their potential to enhance the quality of life for vulnerable individuals like the elderly. The convergence of computer vision, large language models, and robotics has introduced…
Large language models have given social robots the ability to autonomously engage in open-domain conversations. However, they are still missing a fundamental social skill: making use of the multiple modalities that carry social…
Collaborative robots must quickly adapt to their partner's intent and preferences to proactively identify helpful actions. This is especially true in situated settings where human partners can continually teach robots new high-level…
This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed…
Consensus between humans and robots is crucial as robotic agents become more prevalent and deeply integrated into our daily lives. This integration presents both unprecedented opportunities and notable challenges for effective…
With the rapid development of Aerial Physical Interaction, the possibility to have aerial robots physically interacting with humans is attracting a growing interest. In one of our previous works, we considered one of the first systems in…
Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…
To enable robots to instruct humans in collaborations, we identify several aspects of language processing that are not commonly studied in this context. These include location, planning, and generation. We suggest evaluations for each task,…
In this paper, we develop an embodied AI system for human-in-the-loop navigation with a wheeled mobile robot. We propose a direct yet effective method of monitoring the robot's current plan to detect changes in the environment that impact…
This paper contributes a preliminary report on the advantages and disadvantages of incorporating simultaneous human control and feedback signals in the training of a reinforcement learning robotic agent. While robotic human-machine…
Training Large Language Models (LLMs) to follow user instructions has been shown to supply the LLM with ample capacity to converse fluently while being aligned with humans. Yet, it is not completely clear how an LLM can lead a plan-grounded…
Autonomous robots and drones will work collaboratively and cooperatively in tomorrow's industry and agriculture. Before this becomes a reality, some form of standardised communication between man and machine must be established that…
Physically assistive robots present an opportunity to significantly increase the well-being and independence of individuals with motor impairments or other forms of disability who are unable to complete activities of daily living. Speech…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
In the context of Human-Robot Collaboration (HRC), it is crucial that the two actors are able to communicate with each other in a natural and efficient manner. The absence of a communication interface is often a cause of undesired…
Assistive robot arms can help humans by partially automating their desired tasks. Consider an adult with motor impairments controlling an assistive robot arm to eat dinner. The robot can reduce the number of human inputs -- and how precise…
In the domain of humanoid robot control, the fusion of Vision-Language-Action (VLA) with whole-body control is essential for semantically guided execution of real-world tasks. However, existing methods encounter challenges in terms of low…
In order for robots to operate effectively in homes and workplaces, they must be able to manipulate the articulated objects common within environments built for and by humans. Previous work learns kinematic models that prescribe this…
Human-to-human conversation is not just talking and listening. It is an incremental process where participants continually establish a common understanding to rule out misunderstandings. Current language understanding methods for…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…