Related papers: TASC: Task-Aware Shared Control for Teleoperated M…
Inspired by the human ability to perform complex manipulation in the complete absence of vision (like retrieving an object from a pocket), the robotic manipulation field is motivated to develop new methods for tactile-based object…
Developing simple and expressive access controls -- interfaces to specify policies that define who should have access to resources and under what circumstances -- is a longstanding challenge in usable security. We present Sketch-based…
We introduce GeoSACS, a geometric framework for shared autonomy (SA). In variable environments, SA methods can be used to combine robotic capabilities with real-time human input in a way that offloads the physical task from the human. To…
Various applications for inter-machine communications are on the rise. Whether it is for autonomous driving vehicles or the internet of everything, machines are more connected than ever to improve their performance in fulfilling a given…
While RPCs form the bedrock of systems stacks, we posit that IoT device collections in smart spaces like homes, warehouses, and office buildings--which are all "user-facing"--require a more expressive abstraction. Orthogonal to prior work,…
Haptic feedback can improve safety of teleoperated robots when situational awareness is limited or operators are inattentive. Standard potential field approaches increase haptic resistance as an obstacle is approached, which is desirable…
Gestures serve as a fundamental and significant mode of non-verbal communication among humans. Deictic gestures (such as pointing towards an object), in particular, offer valuable means of efficiently expressing intent in situations where…
From a requirements engineering point of view, the elicitation of context-aware functionalities calls for context modeling, an early step that aims at understanding the application contexts and how it may influence user tasks. In practice,…
Autonomous cars can reduce road traffic accidents and provide a safer mode of transport. However, key technical challenges, such as safe navigation in complex urban environments, need to be addressed before deploying these vehicles on the…
Robotic planning problems in hybrid state and action spaces can be solved by integrated task and motion planners (TAMP) that handle the complex interaction between motion-level decisions and task-level plan feasibility. TAMP approaches rely…
As service robots become more general-purpose, they will need to adapt to their users' preferences over a large set of all possible tasks that they can perform. This includes preferences regarding which actions the users prefer to delegate…
Magnetically actuated robots provide a promising untethered platform for navigation in confined environments, enabling biological studies and targeted micro-delivery. However, dexterous manipulation in complex structures remains…
In shared autonomy, user input and robot autonomy are combined to control a robot to achieve a goal. Often, the robot does not know a priori which goal the user wants to achieve, and must both predict the user's intended goal, and assist in…
Task-oriented image semantic communication is a new communication paradigm, which aims to transmit semantics for artificial intelligent (AI) tasks while ignoring the reconstruction quality of the images. However, in some applications, such…
This work presents an optimization-based task and motion planning (TAMP) framework that unifies planning for locomotion and manipulation through a shared representation of contact modes. We define symbolic actions as contact mode changes,…
In this paper, we propose a framework that enables a human teacher to shape a robot behaviour by interactively providing it with unlabeled instructions. We ground the meaning of instruction signals in the task-learning process, and use them…
This work considers the problem of integrated sensing and communications (ISAC) with a massive number of unsourced and uncoordinated users. In the proposed model, known as the unsourced ISAC system (UNISAC), all active communication and…
Traditional approaches to human-robot interaction design typically examine robot behaviors in controlled environments and narrow tasks. These methods are impractical for designing robots that interact with diverse user groups in complex…
As autonomous systems become integral to various industries, effective strategies for fault handling are essential to ensure reliability and efficiency. Transfer of Control (ToC), a traditional approach for interrupting automated processes…
In physical human-robot interaction, force feedback has been the most common sensing modality to convey the human intention to the robot. It is widely used in admittance control to allow the human to direct the robot. However, it cannot be…