Related papers: RaycastGrasp: Eye-Gaze Interaction with Wearable D…
Robotic grasping is one of the most fundamental robotic manipulation tasks and has been actively studied. However, how to quickly teach a robot to grasp a novel target object in clutter remains challenging. This paper attempts to tackle the…
Despite significant advancements in robotic manipulation, achieving consistent and stable grasping remains a fundamental challenge, often limiting the successful execution of complex tasks. Our analysis reveals that even state-of-the-art…
One of the main challenges of gaze-based interactions is the ability to distinguish normal eye function from a deliberate interaction with the computer system, commonly referred to as 'Midas touch'. In this paper we propose, EyeTAP (Eye…
The growing use of robots in urban environments has raised concerns about potential safety hazards, especially in public spaces where humans and robots may interact. In this paper, we present a system for safe human-robot interaction that…
Gaze-tracking is a novel way of interacting with computers which allows new scenarios, such as enabling people with motor-neuron disabilities to control their computers or doctors to interact with patient information without touching screen…
Intention prediction has become a relevant field of research in Human-Machine and Human-Robot Interaction. Indeed, any artificial system (co)-operating with and along humans, designed to assist and coordinate its actions with a human…
Robot grasping is an actively studied area in robotics, mainly focusing on the quality of generated grasps for object manipulation. However, despite advancements, these methods do not consider the human-robot collaboration settings where…
Gaze-based interactions offer a potential way for users to naturally engage with mixed reality (XR) interfaces. Black-box machine learning models enabled higher accuracy for gaze-based interactions. However, due to the black-box nature of…
Gaze is a valuable means of communication for impaired people with extremely limited motor capabilities. However, robust gaze-based intent recognition in multi-object environments is challenging due to gaze noise, micro-saccades, viewpoint…
Leveraging auditory and visual feedback for attention reorientation is essential for natural gaze shifts in social interaction. However, enabling humanoid robots to perform natural and context-appropriate gaze shifts in unconstrained…
Interactive Object Grasping (IOG) is the task of identifying and grasping the desired object via human-robot natural language interaction. Current IOG systems assume that a human user initially specifies the target object's category (e.g.,…
Grasping is a fundamental skill for interacting with the environment. However, this ability can be difficult for some (e.g. due to disability). Wearable robotic solutions can enhance or restore hand function, and recent advances have…
[...] With the TelePhysicalOperation interface, the user can teleoperate the different capabilities of a robot (e.g., single/double arm manipulation, wheel/leg locomotion) by applying virtual forces on selected robot body parts. This…
The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast,…
General-purpose robotic manipulation, including reach and grasp, is essential for deployment into households and workspaces involving diverse and evolving tasks. Recent advances propose using large pre-trained models, such as Large Language…
Dexterous grasping is a fundamental yet challenging skill in robotic manipulation, requiring precise interaction between robotic hands and objects. In this paper, we present $\mathcal{D(R,O)}$ Grasp, a novel framework that models the…
ffective Human-Robot Interaction (HRI) is crucial for enhancing accessibility and usability in real-world robotics applications. However, existing solutions often rely on gesture- only or language-only commands, making interaction…
For successful object manipulation with robotic hands, it is important to ensure that the object remains in the grasp at all times. In addition to grasp constraints associated with slipping and singular hand configurations, excessive…
Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…
One of the most important research challenges in upper-limb prosthetics is enhancing the user-prosthesis communication to closely resemble the experience of a natural limb. As prosthetic devices become more complex, users often struggle to…