Related papers: Fast Explicit-Input Assistance for Teleoperation i…
We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…
In collaborative human-robot manipulation, a robot must predict human intents and adapt its actions accordingly to smoothly execute tasks. However, the human's intent in turn depends on actions the robot takes, creating a chicken-or-egg…
Our goal is for robots to follow natural language instructions like "put the towel next to the microwave." But getting large amounts of labeled data, i.e. data that contains demonstrations of tasks labeled with the language instruction, is…
Assistive robotic arms often have more degrees-of-freedom than a human teleoperator can control with a low-dimensional input, like a joystick. To overcome this challenge, existing approaches use data-driven methods to learn a mapping from…
Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…
In this paper we present a neurosymbolic architecture for coupling language-guided visual reasoning with robot manipulation. A non-expert human user can prompt the robot using unconstrained natural language, providing a referring expression…
Despite recent advancement in virtual reality technology, teleoperating a high DoF robot to complete dexterous tasks in cluttered scenes remains difficult. In this work, we propose a system that allows the user to teleoperate a Fetch robot…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…
The speed and accuracy with which robots are able to interpret natural language is fundamental to realizing effective human-robot interaction. A great deal of attention has been paid to developing models and approximate inference algorithms…
Object goal navigation aims to navigate an agent to locations of a given object category in unseen environments. Classical methods explicitly build maps of environments and require extensive engineering while lacking semantic information…
In teleoperation of contact-rich manipulation tasks, selecting robot impedance is critical but difficult. The robot must be compliant to avoid damaging the environment, but stiff to remain responsive and to apply force when needed. In this…
Building perceptual systems for robotics which perform well under tight computational budgets requires novel architectures which rethink the traditional computer vision pipeline. Modern vision architectures require the agent to build a…
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…
Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…
Ambiguities are inevitable in human-robot interaction, especially when a robot follows user instructions in a large, shared space. For example, if a user asks the robot to find an object in a home environment with underspecified…
Studies in robot teleoperation have been centered around action specifications -- from continuous joint control to discrete end-effector pose control. However, these robot-centric interfaces often require skilled operators with extensive…
The application of teleoperation to control robotic arms has been widely explored, and user-friendly teleoperation systems have been studied for facilitating higher performance and lower operational burden. To investigate the dominant…
This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predictive model that uniquely casts the user's sequential…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
The teleoperation of robots enables remote intervention in distant and dangerous tasks without putting the operator in harm's way. However, remote operation faces fundamental challenges due to limits in communication delays. The proposed…