Related papers: Integrating Field of View in Human-Aware Collabora…
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…
This paper presents a comprehensive framework to enhance Human-Robot Collaboration (HRC) in real-world scenarios. It introduces a formalism to model articulated tasks, requiring cooperation between two agents, through a smaller set of…
Remarkable capabilities have been achieved by robotics and AI, mastering complex tasks and environments. Yet, humans often remain passive observers, fascinated but uncertain how to engage. Robots, in turn, cannot reach their full potential…
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…
The field of Human-Robot Collaboration (HRC) has seen a considerable amount of progress in recent years. Thanks in part to advances in control and perception algorithms, robots have started to work in increasingly unstructured environments,…
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…
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 present a substantial extension of our Human-Aware Task Planning framework, tailored for scenarios with intermittent shared execution experiences and significant belief divergence between humans and robots, particularly due to the…
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…
Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…
Human Activity Recognition (HAR) is a pivotal component of robot perception for physical Human Robot Interaction (pHRI) tasks. In construction robotics, it is vital that robots have an accurate and robust perception of worker activities.…
There has been a growing utilization of industrial robots as complementary collaborators for human workers in re-manufacturing sites. Such a human-robot collaboration (HRC) aims to assist human workers in improving the flexibility and…
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…
When working around other agents such as humans, it is important to model their perception capabilities to predict and make sense of their behavior. In this work, we consider agents whose perception capabilities are determined by their…
Producing robust task plans in human-robot collaborative missions is a critical activity in order to increase the likelihood of these missions completing successfully. Despite the broad research body in the area, which considers different…
We consider the human-aware task planning problem where a human-robot team is given a shared task with a known objective to achieve. Recent approaches tackle it by modeling it as a team of independent, rational agents, where the robot plans…
The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…
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…
Long-term Human-Robot Collaboration (HRC) is crucial for enabling flexible manufacturing systems and integrating companion robots into daily human environments over extended periods. This paper identifies several key challenges for such…
With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…