Related papers: Recognizing Intent in Collaborative Manipulation
How can multiple humans interact with multiple robots? The goal of our research is to create an effective interface that allows multiple operators to collaboratively control teams of robots in complex tasks. In this paper, we focus on a key…
The recent revolution of intelligent systems made it possible for robots and autonomous systems to work alongside humans, collaborating with them and supporting them in many domains. It is undeniable that this interaction can have huge…
Despite a surge in robotics research dedicated to inferring and understanding human intent, a universally accepted definition remains elusive since existing works often equate human intention with specific task-related goals. This article…
When a robot performs a task next to a human, physical interaction is inevitable: the human might push, pull, twist, or guide the robot. The state-of-the-art treats these interactions as disturbances that the robot should reject or avoid.…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
Human-Robot collaboration in home and industrial workspaces is on the rise. However, the communication between robots and humans is a bottleneck. Although people use a combination of different types of gestures to complement speech, only a…
Autonomous robots must communicate about their decisions to gain trust and acceptance. When doing so, robots must determine which actions are causal, i.e., which directly give rise to the desired outcome, so that these actions can be…
Purposeful behavior in robotic assistants requires the integration of multiple components and technological advances. Often, the problem is reduced to recognizing explicit prompts, which limits autonomy, or is oversimplified through…
Effective human-robot collaboration requires informed anticipation. The robot must anticipate the human's actions, but also react quickly and intuitively when its predictions are wrong. The robot must plan its actions to account for the…
With the substantial growth of logistics businesses the need for larger and more automated warehouses increases, thus giving rise to fully robotized shop-floors with mobile robots in charge of transporting and distributing goods. However,…
Humans possess the innate ability to extract latent visuo-lingual cues to infer context through human interaction. During collaboration, this enables proactive prediction of the underlying intention of a series of tasks. In contrast,…
Human activity recognition (HAR) is fundamental in human-robot collaboration (HRC), enabling robots to respond to and dynamically adapt to human intentions. This paper introduces a HAR system combining a modular data glove equipped with…
Developing robots that can assist humans efficiently, safely, and adaptively is crucial for real-world applications such as healthcare. While previous work often assumes a centralized system for co-optimizing human-robot interactions, we…
Human-AI collaboration is typically offered in one of two of user control levels: guidance, where the AI provides suggestions and the human makes the final decision, and delegation, where the AI acts autonomously within user-defined…
Robots learn as they interact with humans. Consider a human teleoperating an assistive robot arm: as the human guides and corrects the arm's motion, the robot gathers information about the human's desired task. But how does the human know…
When humans control robot arms these robots often need to infer the human's desired task. Prior research on assistive teleoperation and shared autonomy explores how robots can determine the desired task based on the human's joystick inputs.…
When teams of robots collaborate to complete a task, communication is often necessary. Like humans, robot teammates should implicitly communicate through their actions: but interpreting our partner's actions is typically difficult, since a…
In order to be effective teammates, robots need to be able to understand high-level human behavior to recognize, anticipate, and adapt to human motion. We have designed a new approach to enable robots to perceive human group motion in…
In Human-Robot Collaboration (HRC), which encompasses physical interaction and remote cooperation, accurate estimation of human intentions and seamless switching of collaboration modes to adjust robot behavior remain paramount challenges.…
This paper explores the estimation of user attention in the setting of a cooperative handheld robot: a robot designed to behave as a handheld tool but that has levels of task knowledge. We use a tool-mounted gaze tracking system, which,…