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Guiding robots can not only detect close-range obstacles like other guiding tools, but also extend its range to perceive the environment when making decisions. However, most existing works over-simplified the interaction between human…

In this work, we propose a novel mobile rescue robot equipped with an immersive stereoscopic teleperception and a teleoperation control. This robot is designed with the capability to perform safely a casualty-extraction procedure. We have…

Harnessing human movements to command an Unmanned Aerial Vehicle (UAV) holds the potential to revolutionize their deployment, rendering it more intuitive and user-centric. In this research, we introduce a novel methodology adept at…

The shredding intrauterine lining or the endometrium is known as Menstruation. It occurs every month and causes several issues like Menstrual Cramps and aches in the abdominal region, stains, menstrual malodor, rashes in intimate areas, and…

Restless multi-armed bandits (RMABs) are a popular framework for algorithmic decision making in sequential settings with limited resources. RMABs are increasingly being used for sensitive decisions such as in public health, treatment…

Learning from human demonstrations has exhibited remarkable achievements in robot manipulation. However, the challenge remains to develop a robot system that matches human capabilities and data efficiency in learning and generalizability,…

In this paper, we introduce RoboLight, the first real-world robotic manipulation dataset capturing synchronized episodes under systematically varied lighting conditions. RoboLight consists of two components. (a) RoboLight-Real contains…

Rigid bodies constitute the smallest manipulable elements in the real world, and understanding how they physically interact is fundamental to embodied reasoning and robotic manipulation. Thus, accurate detection, segmentation, and tracking…

This paper presents a dataset, called Reeds, for research on robot perception algorithms. The dataset aims to provide demanding benchmark opportunities for algorithms, rather than providing an environment for testing application-specific…

Safety is a fundamental requirement in any human-robot collaboration scenario. To ensure the safety of users for such scenarios, we propose a novel Virtual Barrier system facilitated by an augmented reality interface. Our system provides…

Reproducing the capabilities of the human sense of touch in machines is an important step in enabling robot manipulation to have the ease of human dexterity. A combination of robotic technologies will be needed, including soft robotics,…

Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…

This paper presents a system integration approach for a 6-DoF (Degree of Freedom) collaborative robot to operate a pipette for liquid dispensing. Its technical development is threefold. First, we designed an end-effector for holding and…

Embodied intelligence seamlessly integrates vision, language, and action.~However, most multimodal robotic models rely on massive fine-tuning, incurring high time and hardware costs.~To address this, we introduce RoboBERT, an end-to-end…

Multimodal tactile sensing could potentially enable robots to improve their performance at manipulation tasks by rapidly discriminating between task-relevant objects. Data-driven approaches to this tactile perception problem show promise,…

This work introduces an approach for automatic hair combing by a lightweight robot. For people living with limited mobility, dexterity, or chronic fatigue, combing hair is often a difficult task that negatively impacts personal routines. We…

This paper introduces RoTipBot, a novel robotic system for handling thin, flexible objects. Different from previous works that are limited to singulating them using suction cups or soft grippers, RoTipBot can count multiple layers and then…

To enable robots to develop human-like fine manipulation, it is essential to understand how mechanical compliance, multi-modal sensing, and purposeful interaction jointly shape tactile perception. In this study, we use a dedicated modular…

Robot haircare systems could provide a controlled and personalized environment that is respectful of an individual's sensitivities and may offer a comfortable experience. We argue that because of hair and hairstyles' often unique importance…

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…