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In this work, we present two novel contributions toward improving research in human-machine teaming (HMT): 1) a Minecraft testbed to accelerate testing and deployment of collaborative AI agents and 2) a tool to allow users to revisit and…
As robotic technology advances, the barriers to the coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, collaborative manipulation, etc., are considered the need of…
The Multi-Depot Vehicle Routing Problem (MDVRP) is a real-world model of the simplistic Vehicle Routing Problem (VRP) that considers how to satisfy multiple customer demands from numerous depots. This paper introduces a hybrid 2-stage…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
Human-robot collaboration frequently requires extensive communication, e.g., using natural language and gestures. Augmented reality (AR) has provided an alternative way of bridging the communication gap between robots and people. However,…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
Column generation (CG) is a powerful technique for solving optimization problems that involve a large number of variables or columns. This technique begins by solving a smaller problem with a subset of columns and gradually generates…
Inspired by the human ability to selectively focus on relevant information, this paper introduces relevance, a novel dimensionality reduction process for human-robot collaboration (HRC). Our approach incorporates a continuously operating…
Human-robot cooperative navigation is challenging under incomplete information. We introduce CoNav-Maze, a simulated environment where a robot navigates with local perception while a human operator provides guidance based on an inaccurate…
Population-based metaheuristic algorithms have received significant attention in global optimisation. Human Mental Search (HMS) is a relatively recent population-based metaheuristic that has been shown to work well in comparison to other…
This paper describes a new approach for approximating the inverse kinematics of a manipulator using an Ant Colony Optimization (ACO) based RBFN (Radial Basis Function Network). In this paper, a training solution using the ACO and the LMS…
The paper presents an ant colony optimization metaheuristic for collaborative planning. Collaborative planning is used to coordinate individual plans of self-interested decision makers with private information in order to increase the…
A range of complicated real-world problems have inspired the development of several optimization methods. Here, a novel hybrid version of the Ant colony optimization (ACO) method is developed using the sample space reduction technique of…
Vision and language understanding techniques have achieved remarkable progress, but currently it is still difficult to well handle problems involving very fine-grained details. For example, when the robot is told to "bring me the book in…
The Active Inference framework models perception and action as a unified process, where agents use probabilistic models to predict and actively minimize sensory discrepancies. In complement and contrast, traditional population-based…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
Efficient tabletop rearrangement planning seeks to find high-quality solutions while minimizing total cost. However, the task is challenging due to object dependencies and limited buffer space for temporary placements. The complexity…
Efficient and robust task planning for a human-robot collaboration (HRC) system remains challenging. The human-aware task planner needs to assign jobs to both robots and human workers so that they can work collaboratively to achieve better…
Multi-robot systems have been widely deployed in real-world applications, providing significant improvements in efficiency and reductions in labor costs. However, most existing multi-robot collaboration methods rely on extensive…
Enabling humanoid robots to clean rooms has long been a pursued dream within humanoid research communities. However, many tasks require multi-humanoid collaboration, such as carrying large and heavy furniture together. Given the scarcity of…