Related papers: Motion Prediction with Gaussian Processes for Safe…
Automated real-time prediction of the ergonomic risks of manipulating objects is a key unsolved challenge in developing effective human-robot collaboration systems for logistics and manufacturing applications. We present a foundational…
This paper presents a teleoperation system that includes robot perception and intent prediction from hand gestures. The perception module identifies the objects present in the robot workspace and the intent prediction module which object…
As autonomous machines such as robots and vehicles start performing tasks involving human users, ensuring a safe interaction between them becomes an important issue. Translating methods from human-robot interaction (HRI) studies to the…
Accurate human motion prediction (HMP) is critical for seamless human-robot collaboration, particularly in handover tasks that require real-time adaptability. Despite the high accuracy of state-of-the-art models, their computational…
In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…
Collaborative navigation of heterogeneous robots in unknown environments poses significant challenges due to sensing, communication, and computational limitations. In this work, a lead robot navigates toward a target while a mobile sensor…
Collaborative robots must quickly adapt to their partner's intent and preferences to proactively identify helpful actions. This is especially true in situated settings where human partners can continually teach robots new high-level…
Human action-anticipation methods predict what is the future action by observing only a few portion of an action in progress. This is critical for applications where computers have to react to human actions as early as possible such as…
Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices, and in homes. Automated assembly is one of the key…
To engender safe and efficient human-robot collaboration, it is critical to generate high-fidelity predictions of human behavior. The challenges in making accurate predictions lie in the stochasticity and heterogeneity in human behaviors.…
Modern industry still relies on manual manufacturing operations and safe human-robot interaction is of great interest nowadays. Speed and Separation Monitoring (SSM) allows close and efficient collaborative scenarios by maintaining a…
Deploying service robots in our daily life, whether in restaurants, warehouses or hospitals, calls for the need to reason on the interactions happening in dense and dynamic scenes. In this paper, we present and benchmark three new…
Understanding the human-object interactions (HOIs) from a video is essential to fully comprehend a visual scene. This line of research has been addressed by detecting HOIs from images and lately from videos. However, the video-based HOI…
Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges…
Predicting gaze behavior in virtual reality environments remains a significant challenge with implications for rendering optimization and interface design. This paper introduces a multimodal approach to VR gaze prediction that combines…
Human eye gaze plays an important role in delivering information, communicating intent, and understanding others' mental states. Previous research shows that a robot's gaze can also affect humans' decision-making and strategy during an…
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…
We propose a predictive runtime monitoring framework that forecasts the distribution of future positions of mobile robots in order to detect and avoid impending property violations such as collisions with obstacles or other agents. Our…
Real-time robot actuation is one of the main challenges to overcome in human-robot interaction. Most visual sensors are either too slow or their data are too complex to provide meaningful information and low latency input to a robotic…
Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…