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We propose the first framework to learn control policies for vision-based human-to-robot handovers, a critical task for human-robot interaction. While research in Embodied AI has made significant progress in training robot agents in…
Conventional robot programming methods are complex and time-consuming for users. In recent years, alternative approaches such as mixed reality have been explored to address these challenges and optimize robot programming. While the findings…
Precise object manipulation and placement is a common problem for household robots, surgery robots, and robots working on in-situ construction. Prior work using computer vision, depth sensors, and reinforcement learning lacks the ability to…
The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…
In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…
Collaborative space robots are an emerging technology with high impact as robots facilitate servicing functions in collaboration with astronauts with higher precision during lengthy tasks, under tight operational schedules, with less risk…
Human sensory processing is sensitive to the proximity of stimuli to the body. It is therefore plausible that these perceptual mechanisms also modulate the detectability of content in VR, depending on its location. We evaluate this in a…
Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…
Imitation learning is a promising approach for learning robot policies with user-provided data. The way demonstrations are provided, i.e., demonstration modality, influences the quality of the data. While existing research shows that…
Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…
Collaborative robotics requires effective communication between a robot and a human partner. This work proposes a set of interpretive principles for how a robotic arm can use pointing actions to communicate task information to people by…
In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…
The problem of grasping objects using a multi-finger hand has received significant attention in recent years. However, it remains challenging to handle a large number of unfamiliar objects in real and cluttered environments. In this work,…
Touch is a key part of interaction and communication between humans, but has still been little explored in human-robot interaction. In this work, participants were asked to approach and touch a humanoid robot on the hand (Nao - 26…
Tool use is an important milestone in the evolution of intelligence. In this paper, we investigate different modes of tool use that emerge in a reaching and dragging task. In this task, a jointed arm with a gripper must grab a tool (T, I,…
Robots that can manipulate objects in unstructured environments and collaborate with humans can benefit immensely by understanding natural language. We propose a pipelined architecture of two stages to perform spatial reasoning on the text…
As humans, we have a remarkable capacity for reading the characteristics of objects only by observing how another person carries them. Indeed, how we perform our actions naturally embeds information on the item features. Collaborative…
In this paper we propose an approach for efficient grasp selection for manipulation tasks of unknown objects. Even for simple tasks such as pick-and-place, a unique solution is rare to occur. Rather, multiple candidate grasps must be…
Robots are becoming more capable and can autonomously perform tasks such as navigating between locations. However, human oversight remains crucial. This study compared two touchless methods for directing mobile robots: voice control and…
It is intractable for assistive robots to have all functionalities pre-programmed prior to deployment. Rather, it is more realistic for robots to perform supplemental, on-site learning about user's needs and preferences, and particularities…