Related papers: Planning Human-Robot Co-manipulation with Human Mo…
Numerical optimization has become a popular approach to plan smooth motion trajectories for robots. However, when sharing space with humans, balancing properly safety, comfort and efficiency still remains challenging. This is notably the…
Effective human-robot collaboration requires informed anticipation. The robot must anticipate the human's actions, but also react quickly and intuitively when its predictions are wrong. The robot must plan its actions to account for the…
Robots interacting with the physical world plan with models of physics. We advocate that robots interacting with people need to plan with models of cognition. This writeup summarizes the insights we have gained in integrating computational…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…
We address the problem of adapting robot trajectories to improve safety, comfort, and efficiency in human-robot collaborative tasks. To this end, we propose CoMOTO, a trajectory optimization framework that utilizes stochastic motion…
In human-robot collaboration, the objectives of the human are often unknown to the robot. Moreover, even assuming a known objective, the human behavior is also uncertain. In order to plan a robust robot behavior, a key preliminary question…
It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…
Human and robot partners increasingly need to work together to perform tasks as a team. Robots designed for such collaboration must reason about how their task-completion strategies interplay with the behavior and skills of their human team…
Adaptive task planning is fundamental to ensuring effective and seamless human-robot collaboration. This paper introduces a robot task planning framework that takes into account both human leading/following preferences and performance,…
We claim that navigation in human environments can be viewed as cooperative activity especially in constrained situations. Humans concurrently aid and comply with each other while moving in a shared space. Cooperation helps pedestrians to…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…
We focus on the problem of how we can enable a robot to collaborate seamlessly with a human partner, specifically in scenarios where preexisting data is sparse. Much prior work in human-robot collaboration uses observational models of…
An important factor in developing control models for human-robot collaboration is how acceptable they are to their human partners. One such method for creating acceptable control models is to attempt to mimic human-like behaviour in robots…
This paper addresses motion replanning in human-robot collaborative scenarios, emphasizing reactivity and safety-compliant efficiency. While existing human-aware motion planners are effective in structured environments, they often struggle…
Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…
This paper proposes a task-specific trajectory optimization framework for human-robot collaboration, enabling adaptive motion planning based on human interaction dynamics. Unlike conventional approaches that rely on predefined desired…
As environments involving both robots and humans become increasingly common, so does the need to account for people during planning. To plan effectively, robots must be able to respond to and sometimes influence what humans do. This…
In real-world human-robot systems, it is essential for a robot to comprehend human objectives and respond accordingly while performing an extended series of motor actions. Although human objective alignment has recently emerged as a…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…