Related papers: Spot-On: A Mixed Reality Interface for Multi-Robot…
Recent progress in robot autonomy and safety has significantly improved human-robot interactions, enabling robots to work alongside humans on various tasks. However, complex assembly tasks still present significant challenges due to…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
Mobile robot navigation systems are increasingly relied upon in dynamic and complex environments, yet they often struggle with map inaccuracies and the resulting inefficient path planning. This paper presents MRHaD, a Mixed Reality-based…
We design and develop a new shared Augmented Reality (AR) workspace for Human-Robot Interaction (HRI), which establishes a bi-directional communication between human agents and robots. In a prototype system, the shared AR workspace enables…
Developing versatile quadruped robots that can smoothly perform various actions and tasks in real-world environments remains a significant challenge. This paper introduces a novel vision-language-action (VLA) model, mixture of robotic…
Shared autonomy provides a framework where a human and an automated system, such as a robot, jointly control the system's behavior, enabling an effective solution for various applications, including human-robot interaction. However, a…
Interactive volume visualization using a mixed reality (MR) system helps provide users with an intuitive spatial perception of volumetric data. Due to sophisticated requirements of user interaction and vision when using MR head-mounted…
We present Large Language Model for Mixed Reality (LLMR), a framework for the real-time creation and modification of interactive Mixed Reality experiences using LLMs. LLMR leverages novel strategies to tackle difficult cases where ideal…
Predicting future trajectories of traffic agents in highly interactive environments is an essential and challenging problem for the safe operation of autonomous driving systems. On the basis of the fact that self-driving vehicles are…
Predicting future trajectories of traffic agents in highly interactive environments is an essential and challenging problem for the safe operation of autonomous driving systems. On the basis of the fact that self-driving vehicles are…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…
A robot needs multiple interaction modes to robustly collaborate with a human in complicated industrial tasks. We develop a Coexistence-and-Cooperation (CoCo) human-robot collaboration system. Coexistence mode enables the robot to work with…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
This paper presents a novel layered framework that integrates visual foundation models to improve robot manipulation tasks and motion planning. The framework consists of five layers: Perception, Cognition, Planning, Execution, and Learning.…
We present an online semantic object mapping system for a quadruped robot operating in real indoor environments, turning sensor detections into named objects in a global map. During a run, the mapper integrates range geometry with camera…
This paper presents a prototyping framework for distributed control of multi-robot systems, aimed at bridging theory and practical testing of distributed optimization algorithms. Using the Single Program, Multiple Data (SPMD) paradigm, the…
Developing socially competent robots requires tight integration of robotics, computer vision, speech processing, and web technologies. We present the Socially-interactive Robot Software platform (SROS), an open-source framework addressing…
Integrating real-time, complex social signal processing into robotic systems -- especially in real-world, multi-party interaction situations -- is a challenge faced by many in the Human-Robot Interaction (HRI) community. The difficulty is…
Artificial Intelligence (AI) has significantly advanced in recent years, driving innovation across various fields, especially in robotics. Even though robots can perform complex tasks with increasing autonomy, challenges remain in ensuring…
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…