Related papers: Multimodal Human-Intent Modeling for Contextual Ro…
Gestures are a natural form of communication between humans and can also be leveraged for human-robot interaction. This work presents a gesture-based user interface for object selection using pointing and click gestures. An experiment with…
The increasing presence of robots alongside humans, such as in human-robot teams in manufacturing, gives rise to research questions about the kind of behaviors people prefer in their robot counterparts. We term actions that support…
Vision-based human-to-robot handover is an important and challenging task in human-robot interaction. Recent work has attempted to train robot policies by interacting with dynamic virtual humans in simulated environments, where the policies…
Object manipulation is a basic element in everyday human lives. Robotic manipulation has progressed from maneuvering single-rigid-body objects with firm grasping to maneuvering soft objects and handling contact-rich actions. Meanwhile,…
Customizing robotic behaviors to be aligned with diverse human preferences is an underexplored challenge in the field of embodied AI. In this paper, we present Promptable Behaviors, a novel framework that facilitates efficient…
Human-Robot collaboration in home and industrial workspaces is on the rise. However, the communication between robots and humans is a bottleneck. Although people use a combination of different types of gestures to complement speech, only a…
Safe human-to-robot handovers of unknown objects require accurate estimation of hand poses and object properties, such as shape, trajectory, and weight. Accurately estimating these properties requires the use of scanned 3D object models or…
Human-robot collaboration has benefited users with higher efficiency towards interactive tasks. Nevertheless, most collaborative schemes rely on complicated human-machine interfaces, which might lack the requisite intuitiveness compared…
We present an approach to learn general robot manipulation priors from 3D hand-object interaction trajectories. We build a framework to use in-the-wild videos to generate sensorimotor robot trajectories. We do so by lifting both the human…
Human intention-based systems enable robots to perceive and interpret user actions to interact with humans and adapt to their behavior proactively. Therefore, intention prediction is pivotal in creating a natural interaction with social…
It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
Robots learn as they interact with humans. Consider a human teleoperating an assistive robot arm: as the human guides and corrects the arm's motion, the robot gathers information about the human's desired task. But how does the human know…
Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…
Humans have an extraordinary ability to communicate and read the properties of objects by simply watching them being carried by someone else. This level of communicative skills and interpretation, available to humans, is essential for…
Enabling robots to provide effective assistance yet still accommodating the operator's commands for telemanipulation of an object is very challenging because robot's assistive action is not always intuitive for human operators and human…
Trustworthiness is a crucial concept in the context of human-robot interaction. Cooperative robots must be transparent regarding their decision-making process, especially when operating in a human-oriented environment. This paper presents a…
In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…
This paper presents a Human-Robot Blind Handover architecture within the context of Human-Robot Collaboration (HRC). The focus lies on a blind handover scenario where the operator is intentionally faced away, focused in a task, and requires…
In the field of Geriatronics, enabling effective and transparent communication between humans and robots is crucial for enhancing the acceptance and performance of assistive robots. Our early-stage research project investigates the…