Related papers: DTRT: Enhancing Human Intent Estimation and Role A…
For effective human-robot collaboration, a robot must align its actions with human goals, even as they change mid-task. Prior approaches often assume fixed goals, reducing goal prediction to a one-time inference. However, in real-world…
Multi-robot systems are increasingly deployed in applications, such as intralogistics or autonomous delivery, where multiple robots collaborate to complete tasks efficiently. One of the key factors enabling their efficient cooperation is…
Recent progress in human-robot collaboration makes fast and fluid interactions possible, even when human observations are partial and occluded. Methods like Interaction Probabilistic Movement Primitives (ProMP) model human trajectories…
Efficient task allocation among multiple robots is crucial for optimizing productivity in modern warehouses, particularly in response to the increasing demands of online order fulfillment. This paper addresses the real-time multi-robot task…
This paper proposes a bidirectional rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. The proposed algorithm, called HyRRT-Connect, propagates in both forward and backward directions in…
Human brain possesses the ability to effectively focus on important environmental components, which enhances perception, learning, reasoning, and decision-making. Inspired by this cognitive mechanism, we introduced a novel concept termed…
Natural language is one of the most intuitive ways to express human intent. However, translating instructions and commands towards robotic motion generation and deployment in the real world is far from being an easy task. The challenge of…
In this paper, we develop a neural network model to predict future human motion from an observed human motion history. We propose a non-autoregressive transformer architecture to leverage its parallel nature for easier training and fast,…
Within this work, we explore intention inference for user actions in the context of a handheld robot setup. Handheld robots share the shape and properties of handheld tools while being able to process task information and aid manipulation.…
Object-goal visual navigation requires robots to reason over semantic structure and act effectively under partial observability. Recent approaches based on object-level topological maps enable long-horizon navigation without dense geometric…
Socially aware robots should be able, among others, to support fluent human-robot collaboration in tasks that require interdependent actions in order to be solved. Towards enhancing mutual performance, collaborative robots should be…
This paper describes a method of estimating the intention of a user's motion in a robot tele-operation scenario. One of the issues in tele-operation is latency, which occurs due to various reasons such as a slow robot motion and a narrow…
In teleoperation, research has mainly focused on target approaching, where we deal with the more challenging object manipulation task by advancing the shared control technique. Appropriately manipulating an object is challenging due to the…
Mobile robots with some degree of autonomy could deliver significant advantages in high-risk missions such as search and rescue and firefighting. Integrated into a human-robot team (HRT), robots could work effectively to help search…
Driven by recent advances in sensing and computing, deep reinforcement learning (DRL) technologies have shown great potential for addressing distribution system restoration (DSR) under uncertainty. However, their data-intensive nature and…
In a multi-robot system, the appropriate allocation of the tasks to the individual robots is a very significant component. The availability of a centralized infrastructure can guarantee an optimal allocation of the tasks. However, in many…
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 presence and coexistence of human operators and collaborative robots in shop-floor environments raises the need for assigning tasks to either operators or robots, or both. Depending on task characteristics, operator capabilities and the…
Human-Robot Collaboration (HRC) is vital in Industry 4.0, using sensors, digital twins, collaborative robots (cobots), and intention-recognition models to have efficient manufacturing processes. However, Concept Drift is a significant…
We propose a Deep RObust Goal-Oriented trajectory prediction Network (DROGON) for accurate vehicle trajectory prediction by considering behavioral intentions of vehicles in traffic scenes. Our main insight is that the behavior (i.e.,…