Related papers: ARCOR2: Framework for Collaborative End-User Manag…
This paper explores the challenges faced by assistive robots in effectively cooperating with humans, requiring them to anticipate human behavior, predict their actions' impact, and generate understandable robot actions. The study focuses on…
Aerial robots have the potential to play a crucial role in assisting humans with complex and dangerous tasks. Nevertheless, the future industry demands innovative solutions to streamline the interaction process between humans and drones to…
Augmented Reality (AR) systems describe the class of systems that use computers to overlay virtual information on the real world. AR environments allow the development of promising tools in several application domains. In medical training…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
As robots become more adaptable, responsive, and capable of interacting with humans, the design of effective human-robot collaboration becomes critical. Yet, this design process is typically led by monodisciplinary approaches, often…
The current spread of social and assistive robotics applications is increasingly highlighting the need for robots that can be easily taught and interacted with, even by users with no technical background. Still, it is often difficult to…
We present a framework for achieving end-to-end management objectives for multiple services that concurrently execute on a service mesh. We apply reinforcement learning (RL) techniques to train an agent that periodically performs control…
In this paper, we present a complete and efficient implementation of a knowledge-sharing augmented kinesthetic teaching approach for efficient task execution in robotics. Our augmented kinesthetic teaching method integrates intuitive human…
In this paper, we present the implementation details of a Virtual Reality (VR)-based teleoperation interface for moving a robotic manipulator. We propose an iterative human-in-the-loop design where the user sets the next task-space waypoint…
A human-in-the-loop system is proposed to enable collaborative manipulation tasks for person with physical disabilities. Studies show that the cognitive burden of subject reduces with increased autonomy of assistive system. Our framework…
During Percutaneous Nephrolithotomy (PCNL) operations, the surgeon is required to define the incision point on the patient's back, align the needle to a pre-planned path, and perform puncture operations afterward. The procedure is currently…
Suboptimal interaction with patient data and challenges in mastering 3D anatomy based on ill-posed 2D interventional images are essential concerns in image-guided therapies. Augmented reality (AR) has been introduced in the operating rooms…
Interactive reinforcement learning, where humans actively assist during an agent's learning process, has the promise to alleviate the sample complexity challenges of practical algorithms. However, the inner workings and state of the robot…
Augmented Reality (AR) provides a safe and low-cost option for hazardous safety training that allows for the visualization of aspects that may be invisible, such as radiation. Effectively visually communicating such threats in the…
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…
Augmented Reality (AR) collaboration can benefit from a shared 2D surface, such as a whiteboard. However, many features of each collaborators physical environment must be considered in order to determine the best placement and shape of the…
This work introduces a novel Augmented Reality (AR) approach to visualize material data alongside real objects in order to facilitate detailed material analyses based on spatial non-destructive testing (NDT) data as generated in X-ray…
End-user programming (EUP) tools must balance user control with the robot's ability to plan and act autonomously. Many existing task-oriented EUP tools enforce a specific level of control, e.g., by requiring that users hand-craft detailed…
Many industrial tasks-such as sanding, installing fasteners, and wire harnessing-are difficult to automate due to task complexity and variability. We instead investigate deploying robots in an assistive role for these tasks, where the robot…
Validating Augmented Reality (AR) tracking and interaction models requires precise, repeatable ground-truth motion. However, human users cannot reliably perform consistent motion due to biomechanical variability. Robotic manipulators are…