Related papers: Human-Level Actuation for Humanoids
Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…
Human teams are able to easily perform collaborative manipulation tasks. However, for a robot and human to simultaneously manipulate an extended object is a difficult task using existing methods from the literature. Our approach in this…
The recent surge of interest in agile humanoid robots achieving dynamic tasks like jumping and flipping necessitates the concurrent design of a robot platform that combines exceptional hardware performance with effective control algorithms.…
As humanoid robots enter real-world environments, ensuring robust locomotion across diverse environments is crucial. This paper presents a computationally efficient hierarchical control framework for humanoid robot locomotion based on…
The effectiveness of human-robot interaction often hinges on the ability to cultivate engagement - a dynamic process of cognitive involvement that supports meaningful exchanges. Many existing definitions and models of engagement are either…
Enabling humanoid robots to reliably execute complex multi-step manipulation tasks is crucial for their effective deployment in industrial and household environments. This paper presents a hierarchical planning and control framework…
Conversational human-likeness plays a central role in human-AI interaction, yet it has remained difficult to define, measure, and optimize. As a result, improvements in human-like behavior are largely driven by scale or broad supervised…
Trust in human-robot interactions (HRI) is measured in two main ways: through subjective questionnaires and through behavioral tasks. To optimize measurements of trust through questionnaires, the field of HRI faces two challenges: the…
Loco-manipulation is a fundamental challenge for humanoid robots to achieve versatile interactions in human environments. Although recent studies have made significant progress in humanoid whole-body control, loco-manipulation remains…
Skeleton-based human action recognition has received widespread attention in recent years due to its diverse range of application scenarios. Due to the different sources of human skeletons, skeleton data naturally exhibit heterogeneity. The…
This paper presents a comprehensive framework to enhance Human-Robot Collaboration (HRC) in real-world scenarios. It introduces a formalism to model articulated tasks, requiring cooperation between two agents, through a smaller set of…
Human interaction experience plays a crucial role in the effectiveness of human-machine collaboration, especially as interactions in future systems progress towards tighter physical and functional integration. While automation design has…
Human-robot interaction (HRI) has long studied how agents and people coordinate to achieve shared goals. In this work, we formalize and benchmark the non-intrusive assistance as an independent paradigm of HRI, where a robot proactively…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
Most current anthropomorphic robotic hands can realize part of the human hand functions, particularly for object grasping. However, due to the complexity of the human hand, few current designs target at daily object manipulations, even for…
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…
Evaluating and comparing the performance of autonomous Humanoid Robots is challenging, as success rate metrics are difficult to reproduce and fail to capture the complexity of robot movement trajectories, critical in Human-Robot Interaction…
Towards the role of humanoid robots as squad mates in urban operations and other domains, we identified doors as a major area lacking capability development. In this paper, we focus on the ability of humanoid robots to navigate and deal…
Humanoid robots can support human workers in physically demanding environments by performing tasks that require whole-body coordination, such as lifting and transporting heavy objects.These tasks, which we refer to as Dynamic Mobile…
Recent advances in reinforcement learning (RL) have enabled impressive humanoid behaviors in simulation, yet transferring these results to new robots remains challenging. In many real deployments, the primary bottleneck is no longer…