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When developing general purpose robots, the overarching software architecture can greatly affect the ease of accomplishing various tasks. Initial efforts to create unified robot systems in the 1990s led to hybrid architectures, emphasizing…
In this work, we propose a novel shared autonomy framework to operate articulated robots. We provide strategies to design both the task-oriented hierarchical planning and policy shaping algorithms for efficient human-robot interactions in…
As intelligent robots become more integrated into human environments, there is a growing need for intuitive and reliable Human-Robot Interaction (HRI) interfaces that are adaptable and more natural to interact with. Traditional robot…
This paper focuses on Human-Object Interaction (HOI) detection, addressing the challenge of identifying and understanding the interactions between humans and objects within a given image or video frame. Spearheaded by Detection Transformer…
Human robot collaboration (HRC) is becoming increasingly important as the paradigm of manufacturing is shifting from mass production to mass customization. The introduction of HRC can significantly improve the flexibility and intelligence…
Effective close-proximity human-robot interaction (CP-HRI) requires robots to be able to both efficiently perform tasks as well as adapt to human behavior and preferences. However, this ability is mediated by many, sometimes competing,…
Generating realistic 3D Human-Object Interactions (HOI) is a fundamental task for applications ranging from embodied AI to virtual content creation, which requires harmonizing high-level semantic intent with strict low-level physical…
This paper presents InteractEdit, a novel framework for zero-shot Human-Object Interaction (HOI) editing, addressing the challenging task of transforming an existing interaction in an image into a new, desired interaction while preserving…
We present HOIDiNi, a text-driven diffusion framework for synthesizing realistic and plausible human-object interaction (HOI). HOI generation is extremely challenging since it induces strict contact accuracies alongside a diverse motion…
Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing…
Human-Object Interaction (HOI) detection is a fundamental task in image understanding. While deep-learning-based HOI methods provide high performance in terms of mean Average Precision (mAP), they are computationally expensive and opaque in…
While Human-Object Interaction(HOI) Detection has achieved tremendous advances in recent, it still remains challenging due to complex interactions with multiple humans and objects occurring in images, which would inevitably lead to…
This paper describes the initial steps towards the design of a robotic system that intends to perform actions autonomously in a naturalistic play environment. At the same time it aims for social human-robot interaction~(HRI), focusing on…
Detecting human-object interaction (HOI) has long been limited by the amount of supervised data available. Recent approaches address this issue by pre-training according to pseudo-labels, which align object regions with HOI triplets parsed…
The increasing transition of human-robot interaction (HRI) context from controlled settings to dynamic, real-world public environments calls for enhanced adaptability in robotic systems. This can go beyond algorithmic navigation or…
We examine how a human-robot interaction (HRI) system may be designed when input-output data from previous experiments are available. In particular, we consider how to select an optimal impedance in the assistance design for a cooperative…
Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…
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 human-robot interaction (HRI) field has traditionally used Wizard-of-Oz (WoZ) controlled robots to explore navigation, conversational dynamics, human-in-the-loop interactions, and more to explore appropriate robot behaviors in everyday…
This paper presents a novel framework for accessible and pedagogically-grounded robot explainability, designed to support human-robot interaction (HRI) with users who have diverse cognitive, communicative, or learning needs. We combine…