Related papers: Human-Level Actuation for Humanoids
Recent advances in model architectures, compute, and data scale have driven rapid progress in video generation, producing increasingly realistic content. Yet, no prior method systematically measures how faithfully these systems render human…
Humans achieve complex manipulation through coordinated whole-body control, whereas most Vision-Language-Action (VLA) models treat robot body parts largely independently, making high-DoF humanoid control challenging and often unstable. We…
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…
In the last two decades the scientific community has shown a great interest in understanding and shaping the interaction mechanisms between humans and robots. The interaction implies communication between two dyadic agents and, if the type…
Teleoperation (i.e., controlling a robot with human motion) proves promising in enabling a humanoid robot to move as dynamically as a human. But how to map human motion to a humanoid robot matters because a human and a humanoid robot rarely…
Whole-arm tactile sensing enables a robot to sense contact and infer contact properties across its entire arm. Within this paper, we demonstrate that using data-driven methods, a humanoid robot can infer mechanical properties of objects…
In future, robots will be present in everyday life. The development of these supporting robots is a challenge. A fundamental task for assistance robots is to pick up and hand over objects to humans. By interacting with users, soft factors…
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…
Humanoid robots hold great potential to perform various human-level skills, involving unified locomotion and manipulation in real-world settings. Driven by advances in machine learning and the strength of existing model-based approaches,…
Humanoid robots, with their human-like embodiment, have the potential to integrate seamlessly into human environments. Critical to their coexistence and cooperation with humans is the ability to understand natural language communications…
Recently, humanoid robots have made significant advances in their ability to perform challenging tasks due to the deployment of Reinforcement Learning (RL), however, the inherent complexity of humanoid robots, including the difficulty of…
The recognition of actions performed by humans and the anticipation of their intentions are important enablers to yield sociable and successful collaboration in human-robot teams. Meanwhile, robots should have the capacity to deal with…
Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…
Manufacturing assembly tasks can vary in complexity and level of automation. Yet, achieving full automation can be challenging and inefficient, particularly due to the complexity of certain assembly operations. Human-robot collaborative…
Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and…
Artificial electronic skins covering complete robot bodies can make physical human-robot collaboration safe and hence possible. Standards for collaborative robots (e.g., ISO/TS 15066) prescribe permissible forces and pressures during…
While recent advances in humanoid locomotion have achieved stable walking on varied terrains, capturing the agility and adaptivity of highly dynamic human motions remains an open challenge. In particular, agile parkour in complex…
Humans are experts in physical collaboration by leveraging cognitive abilities such as perception, reasoning, and decision-making to regulate compliance behaviors based on their partners' states and task requirements. Equipping robots with…
Long-term Human-Robot Collaboration (HRC) is crucial for enabling flexible manufacturing systems and integrating companion robots into daily human environments over extended periods. This paper identifies several key challenges for such…
Wearable devices like exoskeletons are designed to reduce excessive loads on specific joints of the body. Specifically, single- or two-degrees-of-freedom (DOF) upper-body industrial exoskeletons typically focus on compensating for the…