Related papers: Intent at a Glance: Gaze-Guided Robotic Manipulati…
A promising effective human-robot interaction in assistive robotic systems is gaze-based control. However, current gaze-based assistive systems mainly help users with basic grasping actions, offering limited support. Moreover, the…
Embodied foundation models have achieved significant breakthroughs in robotic manipulation, yet they still depend heavily on large-scale robot demonstrations. Although recent works have explored leveraging human data to alleviate this…
Robotic manipulators are increasingly used to assist individuals with mobility impairments in object retrieval. However, the predominant joystick-based control interfaces can be challenging due to high precision requirements and unintuitive…
Vision-Language-Action (VLA) models have recently shown strong potential for robot learning by following language instructions. However, in practice, language alone is often insufficient to precisely convey human intent. It is difficult to…
Despite advances in Vision-Language-Action (VLA) models, robotic manipulation struggles with fine-grained tasks because current models lack mechanisms for active visual attention allocation. Human gaze naturally encodes intent, planning,…
Traditional control and planning for robotic manipulation heavily rely on precise physical models and predefined action sequences. While effective in structured environments, such approaches often fail in real-world scenarios due to…
Intention prediction has become a relevant field of research in Human-Machine and Human-Robot Interaction. Indeed, any artificial system (co)-operating with and along humans, designed to assist and coordinate its actions with a human…
We present GazeGrasp, a gaze-based manipulation system enabling individuals with motor impairments to control collaborative robots using eye-gaze. The system employs an ESP32 CAM for eye tracking, MediaPipe for gaze detection, and YOLOv8…
Gaze is a valuable means of communication for impaired people with extremely limited motor capabilities. However, robust gaze-based intent recognition in multi-object environments is challenging due to gaze noise, micro-saccades, viewpoint…
This paper explores the estimation of user attention in the setting of a cooperative handheld robot: a robot designed to behave as a handheld tool but that has levels of task knowledge. We use a tool-mounted gaze tracking system, which,…
This work presents a next-generation human-robot interface that can infer and realize the user's manipulation intention via sight only. Specifically, we develop a system that integrates near-eye-tracking and robotic manipulation to enable…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
Human-robot collaboration requires robots to quickly infer user intent, provide transparent reasoning, and assist users in achieving their goals. Our recent work introduced GUIDER, our framework for inferring navigation and manipulation…
Mobile manipulation constitutes a fundamental task for robotic assistants and garners significant attention within the robotics community. A critical challenge inherent in mobile manipulation is the effective observation of the target while…
Articulated objects like cabinets and doors are widespread in daily life. However, directly manipulating 3D articulated objects is challenging because they have diverse geometrical shapes, semantic categories, and kinetic constraints. Prior…
This paper presents GAMMA, a general motion prediction model that enables large-scale real-time simulation and planning for autonomous driving. GAMMA models heterogeneous, interactive traffic agents. They operate under diverse road…
Predicting human motion is critical for assistive robots and AR/VR applications, where the interaction with humans needs to be safe and comfortable. Meanwhile, an accurate prediction depends on understanding both the scene context and human…
ffective Human-Robot Interaction (HRI) is crucial for enhancing accessibility and usability in real-world robotics applications. However, existing solutions often rely on gesture- only or language-only commands, making interaction…
Individuals with tetraplegia and similar forms of paralysis suffer physically and emotionally due to a lack of autonomy. To help regain part of this autonomy, assistive robotic arms have been shown to increase living independence. However,…
Shared control can help in teleoperated object manipulation by assisting with the execution of the user's intention. To this end, robust and prompt intention estimation is needed, which relies on behavioral observations. Here, an intention…