Related papers: Hand Over or Place On The Table? A Study On Roboti…
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…
For a robot to personalize physical assistance effectively, it must learn user preferences that can be generally reapplied to future scenarios. In this work, we investigate personalization of household cleanup with robots that can tidy up…
In ad-hoc human-robot collaboration (HRC), humans and robots work on a task without pre-planning the robot's actions prior to execution; instead, task allocation occurs in real-time. However, prior research has largely focused on task…
The requirements of modern production systems together with more advanced robotic technologies have fostered the integration of teams comprising humans and autonomous robots. However, along with the potential benefits also comes the…
People feel attached to places that are meaningful to them, which psychological research calls "place attachment." Place attachment is associated with self-identity, self-continuity, and psychological well-being. Even small cues, including…
Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…
Voice dictation is increasingly used for text entry, especially in mobile scenarios. However, the speech-based experience gets disrupted when users must go back to a screen and keyboard to review and edit the text. While existing dictation…
We present how we formalize the waiting tables task in a restaurant as a robot planning problem. This formalization was used to test our recently developed algorithms that allow for optimal planning for achieving multiple independent tasks…
This paper proposes a novel method for randomized bin-picking based on learning. When a two-fingered gripper tries to pick an object from the pile, a finger often contacts a neighboring object. Even if a finger contacts a neighboring…
We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-smoothness and high dimensionality. In this work, we focus…
Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…
Research in child-robot interactions suggests that engaging in "care-taking" of a social robot, such as tucking the robot in at night, can strengthen relationships formed between children and robots. In this work, we aim to better…
With rapid developments in consumer-level head-mounted displays and computer graphics, immersive VR has the potential to take online and remote learning closer to real-world settings. However, the effects of such digital transformations on…
We demonstrate a robot-assisted feeding system that enables people with mobility impairments to feed themselves. Our system design embodies Safety, Portability, and User Control, with comprehensive full-stack safety checks, the ability to…
In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because force must be applied to the skin. Using finite element…
We present the use of two methods we believe warrant more use than they currently have in the field of human-robot interaction: role-play and Hierarchical Task Analysis. Some of its potential is showcased through our use of them in an…
As robots have become increasingly common in human-rich environments, it is critical that they are able to exhibit social cues to be perceived as a cooperative and socially-conformant team member. We investigate the effect of robot gaze…
Efficiently entering information into a computer is key to enjoying the benefits of computing. This paper describes three intelligent user interfaces: handwriting recognition, adaptive menus, and predictive fillin. In the context of adding…
Opening sterile medical packaging is routine for healthcare workers but remains challenging for robots. Learning from demonstration enables robots to acquire manipulation skills directly from humans, and handheld gripper tools such as the…
Controlling robots to perform tasks via natural language is one of the most challenging topics in human-robot interaction. In this work, we present a robot system that follows unconstrained language instructions to pick and place arbitrary…