Related papers: HAIC: Humanoid Agile Object Interaction Control vi…
We present HOIMotion - a novel approach for human motion forecasting during human-object interactions that integrates information about past body poses and egocentric 3D object bounding boxes. Human motion forecasting is important in many…
Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world…
Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…
Humanoid robots deployed in real-world scenarios often need to carry unknown payloads, which introduce significant mismatch and degrade the effectiveness of simulation-to-reality reinforcement learning methods. To address this challenge, we…
The ability to accurately predict human behavior is central to the safety and efficiency of robot autonomy in interactive settings. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as…
One of the key issues in human-robot collaboration is the development of computational models that allow robots to predict and adapt to human behavior. Much progress has been achieved in developing such models, as well as control techniques…
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
The relative spatial layout of a human and an object is an important cue for determining how they interact. However, until now, spatial layout has been used just as side-information for detecting human-object interactions (HOIs). In this…
Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing…
The current capabilities of robotic systems make human collaboration necessary to accomplish complex tasks effectively. In this work, we are introducing a framework to ensure safety in a human-robot collaborative environment. The system is…
We tackle the challenging problem of human-object interaction (HOI) detection. Existing methods either recognize the interaction of each human-object pair in isolation or perform joint inference based on complex appearance-based features.…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…
Human-AI shared control allows human to interact and collaborate with AI to accomplish control tasks in complex environments. Previous Reinforcement Learning (RL) methods attempt the goal-conditioned design to achieve human-controllable…
Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and…
Humanoid robots deployed in industrial environments are required to perform load-carrying transportation tasks that tightly couple locomotion and manipulation. However, achieving stable and robust locomotion under varying payloads and…
Humanoid robots hold great potential for diverse interactions and daily service tasks within human-centered environments, necessitating controllers that seamlessly integrate precise locomotion with dexterous manipulation. However, most…
Planning and execution of agile locomotion maneuvers have been a longstanding challenge in legged robotics. It requires to derive motion plans and local feedback policies in real-time to handle the nonholonomy of the kinetic momenta. To…
We study the problem of detecting human-object interactions (HOI) in static images, defined as predicting a human and an object bounding box with an interaction class label that connects them. HOI detection is a fundamental problem in…