Related papers: iRoCo: Intuitive Robot Control From Anywhere Using…
During crowd navigation, robot motion plan needs to consider human motion uncertainty, and the human motion uncertainty is dependent on the robot motion plan. We introduce Interaction-aware Conformal Prediction (ICP) to alternate…
Hospital patient falls remain a critical and costly challenge worldwide. While conventional fall prevention systems typically rely on post-fall detection or reactive alerts, they also often suffer from high false positive rates and fail to…
Learning motion tracking from rich human motion data is a foundational task for achieving general control in humanoid robots, enabling them to perform diverse behaviors. However, discrepancies in morphology and dynamics between humans and…
Recent advancements in imitation learning have shown promising results in robotic manipulation, driven by the availability of high-quality training data. To improve data collection efficiency, some approaches focus on developing specialized…
We build a system that enables any human to control a robot hand and arm, simply by demonstrating motions with their own hand. The robot observes the human operator via a single RGB camera and imitates their actions in real-time. Human…
Multi-robot systems can greatly enhance efficiency through coordination and collaboration, yet in practice, full-time communication is rarely available and interactions are constrained to close-range exchanges. Existing methods either…
Imitation learning frameworks that learn robot control policies from demonstrators' motions via hand-mounted demonstration interfaces have attracted increasing attention. However, due to differences in physical characteristics between…
Shared-autonomy imitation learning lets a human correct a robot in real time, mitigating covariate-shift errors. Yet existing approaches ignore two critical factors: (i) the operator's cognitive load and (ii) the risk created by delayed or…
With the rapid advance of sophisticated control algorithms, the capabilities of drones to stabilise, fly and manoeuvre autonomously have dramatically improved, enabling us to pay greater attention to entire missions and the interaction of a…
This paper presents the design and implementation of an AI vision-controlled orthotic hand exoskeleton to enhance rehabilitation and assistive functionality for individuals with hand mobility impairments. The system leverages a Google Coral…
This manuscript introduces an object deformability-agnostic framework for co-carrying tasks that are shared between a person and multiple robots. Our approach allows the full control of the co-carrying trajectories by the person while…
Integrating robots into populated environments is a complex challenge that requires an understanding of human social dynamics. In this work, we propose to model social motion forecasting in a shared human-robot representation space, which…
This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware…
Within this work, we explore intention inference for user actions in the context of a handheld robot setup. Handheld robots share the shape and properties of handheld tools while being able to process task information and aid manipulation.…
In real-world industrial environments, modern robots often rely on human operators for crucial decision-making and mission synthesis from individual tasks. Effective and safe collaboration between humans and robots requires systems that can…
Human-robot interactions have been recognized to be a key element of future industrial collaborative robots (co-robots). Unlike traditional robots that work in structured and deterministic environments, co-robots need to operate in highly…
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…
Collaborative robots, or cobots, are increasingly integrated into various industrial and service settings to work efficiently and safely alongside humans. However, for effective human-robot collaboration, robots must reason based on human…
Intuitive Teleoperation interfaces are essential for mobile manipulation robots to ensure high quality data collection while reducing operator workload. A strong sense of embodiment combined with minimal physical and cognitive demands not…
Shared control, which combines human expertise with autonomous assistance, is critical for effective teleoperation in complex environments. While recent advances in haptic-guided teleoperation have shown promise, they are often limited to…