Related papers: Robotic capabilities framework: A boundary object …
The demand for social robots in fields like healthcare, education, and entertainment increases due to their emotional adaptation features. These robots leverage multimodal communication, incorporating speech, facial expressions, and…
Recent advances in large multimodal models have enabled new opportunities in embodied AI, particularly in robotic manipulation. These models have shown strong potential in generalization and reasoning, but achieving reliable and responsible…
As the advent of artificial general intelligence (AGI) progresses at a breathtaking pace, the application of large language models (LLMs) as AI Agents in robotics remains in its nascent stage. A significant concern that hampers the seamless…
The foundation of successful human collaboration is deeply rooted in the principles of fairness. As robots are increasingly prevalent in various parts of society where they are working alongside groups and teams of humans, their ability to…
We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…
Autonomous agents are increasingly expected to operate in complex, dynamic, and uncertain environments, performing tasks such as manipulation, navigation, and decision-making. Achieving these capabilities requires agents to understand the…
Robot design is a nontrivial process that involves careful consideration of multiple criteria, including user specifications, kinematic structures, and visual appearance. Therefore, the design process often relies heavily on domain…
For multi-robot teams with heterogeneous capabilities, typical task allocation methods assign tasks to robots based on the suitability of the robots to perform certain tasks as well as the requirements of the task itself. However, in…
Machine learning has long since become a keystone technology, accelerating science and applications in a broad range of domains. Consequently, the notion of applying learning methods to a particular problem set has become an established and…
This paper addresses the challenge of enabling a single robot to effectively assist multiple humans in decision-making for task planning domains. We introduce a comprehensive framework designed to enhance overall team performance by…
The field of Human-Robot Collaboration (HRC) has seen a considerable amount of progress in recent years. Thanks in part to advances in control and perception algorithms, robots have started to work in increasingly unstructured environments,…
This paper introduces HARMONIC, a cognitive-robotic architecture designed for robots in human-robotic teams. HARMONIC supports semantic perception interpretation, human-like decision-making, and intentional language communication. It…
Robot morphology, the form, shape, and structure of robots, is a key design space in human-robot interaction (HRI), shaping how robots function, express themselves, and interact with people. Yet, despite its importance, little is known…
The combination of embodied intelligence and robots has great prospects and is becoming increasingly common. In order to work more efficiently, accurately, reliably, and safely in industrial scenarios, robots should have at least general…
Common experience suggests that agents who know each other well are better able to work together. In this work, we address the problem of calibrating intention and capabilities in human-robot collaboration. In particular, we focus on…
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
Robots frequently face complex tasks that require more than one action, where sequential decision-making (SDM) capabilities become necessary. The key contribution of this work is a robot SDM framework, called LCORPP, that supports the…
There is no dearth of new robots that provide both generalized and customized platforms for learning and research. Unfortunately as we attempt to adapt existing software components, we are faced with an explosion of device drivers that…
The growing interest in human-robot collaboration (HRC), where humans and robots cooperate towards shared goals, has seen significant advancements over the past decade. While previous research has addressed various challenges, several key…
Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…