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Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
Interactive segmentation entails a human marking an image to guide how a model either creates or edits a segmentation. Our work addresses limitations of existing methods: they either only support one gesture type for marking an image (e.g.,…
To learn object models for robotic manipulation, unsupervised methods cannot provide accurate object structural information and supervised methods require a large amount of manually labeled training samples, thus interactive object…
Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction…
While robots are increasingly integrated into the built environment, little is known how their qualities can meaningfully influence our spaces to facilitate enjoyable and agreeable interaction, rather than robotic settings that are driven…
The number of robots deployed in our daily surroundings is ever-increasing. Even in the industrial set-up, the use of coworker robots is increasing rapidly. These cohabitant robots perform various tasks as instructed by co-located human…
Human-Robot Teams offer the flexibility needed for partial automation in small and medium-sized enterprises (SMEs). They will thus be an integral part of Factories of the Future. Our research targets a particularly flexible teaming mode,…
Enabling robots to quickly learn manipulation skills is an important, yet challenging problem. Such manipulation skills should be flexible, e.g., be able adapt to the current workspace configuration. Furthermore, to accomplish complex…
In situ robotic automation in construction is challenging due to constantly changing environments, a shortage of robotic experts, and a lack of standardized frameworks bridging robotics and construction practices. This work proposes a…
Comprehensive scene understanding is a critical enabler of robot autonomy. Semantic segmentation is one of the key scene understanding tasks which is pivotal for several robotics applications including autonomous driving, domestic service…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
Applying micro-patterns to surfaces has been shown to impart useful physical properties such as drag reduction and hydrophobicity. However, current manufacturing techniques cannot produce micro-patterned surfaces at scale due to high-cost…
This paper comprehensively surveys research trends in imitation learning for contact-rich robotic tasks. Contact-rich tasks, which require complex physical interactions with the environment, represent a central challenge in robotics due to…
Service robots for personal use in the home and the workplace require end-user development solutions for swiftly scripting robot tasks as the need arises. Many existing solutions preserve ease, efficiency, and convenience through simple…
Robotic surface-interaction tasks, such as spray painting or welding, require both accurate geometric planning and precise motion execution. While modern motion planners generate valid geometric paths, they often lack the expert motor…
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
The advent of the era of machines has limited human interaction and this has increased their presence in the last decade. The requirement to increase the effectiveness, durability and reliability in the robots has also risen quite…
Robots often need to be reconfigurable$-$to customize, calibrate, or optimize robots operating in varying environments with different hardware). A particular challenge in robotics is the automated and dynamic reconfiguration to load and…
Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a…