Related papers: IDAGC: Adaptive Generalized Human-Robot Collaborat…
Anticipating and adapting to failures is a key capability robots need to collaborate effectively with humans in complex domains. This continues to be a challenge despite the impressive performance of state of the art AI planning systems and…
For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…
In human-robot cooperation, the robot cooperates with humans to accomplish the task together. Existing approaches assume the human has a specific goal during the cooperation, and the robot infers and acts toward it. However, in real-world…
Collaborative robots require effective human intention estimation to safely and smoothly work with humans in less structured tasks such as industrial assembly, where human intention continuously changes. We propose the concept of intention…
In the context of Human-Robot Collaboration (HRC), it is crucial that the two actors are able to communicate with each other in a natural and efficient manner. The absence of a communication interface is often a cause of undesired…
Assistive shared-control robots have the potential to transform the lives of millions of people afflicted with severe motor impairments. The usefulness of shared-control robots typically relies on the underlying autonomy's ability to infer…
Human-robot collaboration (HRC) is a key focus of Industry 5.0, aiming to enhance worker productivity while ensuring well-being. The ability to perceive human psycho-physical states, such as stress and cognitive load, is crucial for…
Shared autonomy (SA) enables robots to infer human intent and assist in its achievement. While most research focuses on improving intent inference, it overlooks whether humans can understand the robot's intent in return. Without such mutual…
Transferring human motion to a mobile robotic manipulator and ensuring safe physical human-robot interaction are crucial steps towards automating complex manipulation tasks in human-shared environments. In this work, we present a novel…
As robots increasingly operate in shared, safety critical environments, acting safely is no longer sufficient robots must also make their safety decisions intelligible to human collaborators. In human robot collaboration (HRC), behaviours…
The creation of human-like humanoid robots is hindered by a fundamental fragmentation: data processing and learning algorithms are rarely universal across different robot morphologies. This paper introduces the Generalized Behavior Cloning…
We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…
Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many…
Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…
Unified video and action prediction models hold great potential for robotic manipulation, as future observations offer contextual cues for planning, while actions reveal how interactions shape the environment. However, most existing…
Effective human-AI collaboration hinges on the ability to dynamically integrate the complementary strengths of human experts and AI models across diverse decision contexts. Context-aware weighted combination of human and AI outputs is a…
This study investigates the issue of task allocation in Human-Machine Collaboration (HMC) within the context of Industry 4.0. By integrating philosophical insights and cognitive science, it clearly defines two typical modes of human…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
Performing joint interaction requires constant mutual monitoring of own actions and their effects on the other's behaviour. Such an action-effect monitoring is boosted by social cues and might result in an increasing sense of agency. Joint…
Building autonomous mobile robots (AMRs) with optimized efficiency and adaptive capabilities-able to respond to changing task demands and dynamic environments-is a strongly desired goal for advancing construction robotics. Such robots can…