Related papers: Proactive Robot Control for Collaborative Manipula…
We present a planning and control approach for collaborative transportation of objects in space by a team of robots. Object and robots in microgravity environments are not subject to friction but are instead free floating. This property is…
Human and robot partners increasingly need to work together to perform tasks as a team. Robots designed for such collaboration must reason about how their task-completion strategies interplay with the behavior and skills of their human team…
Successful adoption of industrial robots will strongly depend on their ability to safely and efficiently operate in human environments, engage in natural communication, understand their users, and express intentions intuitively while…
One central goal of robotics is to enable robots to interact with the physical world. Traditional manipulation studies primarily focus on single robots and relatively small objects. However, factory and domestic environments often require…
This paper proposes a robot action planning scheme that provides an efficient and probabilistically safe plan for a robot interacting with an unconcerned human -- someone who is either unaware of the robot's presence or unwilling to engage…
Communication is essential for successful interaction. In human-robot interaction, implicit communication holds the potential to enhance robots' understanding of human needs, emotions, and intentions. This paper introduces a method to…
As robots enter collaborative workspaces, ensuring mutual understanding between human workers and robotic systems becomes a prerequisite for trust, safety, and efficiency. In this position paper, we draw on the cooperation scenario of the…
Robots operating alongside humans often encounter unfamiliar environments that make autonomous task completion challenging. Though improving models and increasing dataset size can enhance a robot's performance in unseen environments, data…
High-level human instructions often correspond to behaviors with multiple implicit steps. In order for robots to be useful in the real world, they must be able to to reason over both motions and intermediate goals implied by human…
We are developing a system for human-robot communication that enables people to communicate with robots in a natural way and is focused on solving problems in a shared space. Our strategy for developing this system is fundamentally…
Relational networks within a team play a critical role in the performance of many real-world multi-robot systems. To successfully accomplish tasks that require cooperation and coordination, different agents (e.g., robots) necessitate…
As robots gain capabilities to enter our human-centric world, they require formalism and algorithms that enable smart and efficient interactions. This is challenging, especially for robotic manipulators with complex tasks that may require…
Humans directly completing tasks in dangerous or hazardous conditions is not always possible where these tasks are increasingly be performed remotely by teleoperated robots. However, teleoperation is difficult since the operator feels a…
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.…
To perform tasks well in a new domain, one must first know something about it. This paper reports on a robot controller for navigation through unfamiliar indoor worlds. Based on spatial affordances, it integrates planning with reactive…
As social service robots become commonplace, it is essential for them to effectively interpret human signals, such as verbal, gesture, and eye gaze, when people need to focus on their primary tasks to minimize interruptions and…
Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues.…
We pursue the goal of developing robots that can interact zero-shot with generic unseen objects via a diverse repertoire of manipulation skills and show how passive human videos can serve as a rich source of data for learning such…
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…
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…