Related papers: SM2ITH: Safe Mobile Manipulation with Interactive …
Deictic gestures, like pointing, are a fundamental form of non-verbal communication, enabling humans to direct attention to specific objects or locations. This capability is essential in Human-Robot Interaction (HRI), where robots should be…
In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…
While there has been remarkable progress recently in the fields of manipulation and locomotion, mobile manipulation remains a long-standing challenge. Compared to locomotion or static manipulation, a mobile system must make a diverse range…
Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…
Human-robot collaboration (HRC) is one key component to achieving flexible manufacturing to meet the different needs of customers. However, it is difficult to build intelligent robots that can proactively assist humans in a safe and…
We consider a nonprehensile manipulation task in which a mobile manipulator must balance objects on its end effector without grasping them -- known as the waiter's problem -- and move to a desired location while avoiding static and dynamic…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
Robotic tasks which involve uncertainty--due to variation in goal, environment configuration, or confidence in task model--may require human input to instruct or adapt the robot. In tasks with physical contact, several existing methods for…
Utilizing robots for autonomous target search in complex and unknown environments can greatly improve the efficiency of search and rescue missions. However, existing methods have shown inadequate performance due to hardware platform…
Effective human-robot teaming is crucial for the practical deployment of robots in human workspaces. However, optimizing joint human-robot plans remains a challenge due to the difficulty of modeling individualized human capabilities and…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Automating complex industrial robots requires precise nonlinear control and efficient energy management. This paper introduces a data-driven nonlinear model predictive control (NMPC) framework to optimize control under multiple objectives.…
Robots can influence people to accomplish their tasks more efficiently: autonomous cars can inch forward at an intersection to pass through, and tabletop manipulators can go for an object on the table first. However, a robot's ability to…
We propose a hierarchical reinforcement learning (HRL) framework for efficient Navigation Among Movable Obstacles (NAMO) using a mobile manipulator. Our approach combines interaction-based obstacle property estimation with structured…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
To operate in open-ended environments where humans interact in complex, diverse ways, autonomous robots must learn to predict their behaviour, especially when that behavior is potentially dangerous to other agents or to the robot. However,…
This paper introduces MobileH2R, a framework for learning generalizable vision-based human-to-mobile-robot (H2MR) handover skills. Unlike traditional fixed-base handovers, this task requires a mobile robot to reliably receive objects in a…
Effective human-robot collaboration (HRC) requires translating high-level intent into contact-stable whole-body motion while continuously adapting to a human partner. Many vision-language-action (VLA) systems learn end-to-end mappings from…
This paper presents a novel method to control humanoid robot dynamic loco-manipulation with multiple contact modes via multi-contact Model Predictive Control (MPC) framework. The proposed framework includes a multi-contact dynamics model…
Urban search and rescue missions require rapid first response to minimize loss of life and damage. Often, such efforts are assisted by humanitarian robots which need to handle dynamic operational conditions such as uneven and rough…