Related papers: HoMMI: Learning Whole-Body Mobile Manipulation fro…
We present a framework that integrates EEG-based visual and motor imagery (VI/MI) with robotic control to enable real-time, intention-driven grasping and placement. Motivated by the promise of BCI-driven robotics to enhance human-robot…
This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…
Appropriate communication is crucial for efficient and safe interactions between pedestrians and autonomous vehicles (AVs). External human-machine interfaces (eHMIs) on AVs, which can be categorized as allocentric or egocentric, are…
Modeling human behaviors in contextual environments has a wide range of applications in character animation, embodied AI, VR/AR, and robotics. In real-world scenarios, humans frequently interact with the environment and manipulate various…
How can we teach humanoids to climb staircases and sit on chairs using the surrounding environment context? Arguably, the simplest way is to just show them-casually capture a human motion video and feed it to humanoids. We introduce…
Moving large objects, such as furniture or appliances, is a critical capability for robots operating in human environments. This task presents unique challenges, including whole-body coordination to avoid collisions and managing the…
Humans often work closely together and relay a wealth of information through physical interaction. Robots, on the other hand, are not yet able to work similarly closely with humans and to effectively convey information when engaging in…
We introduce UMI-on-Air, a framework for embodiment-aware deployment of embodiment-agnostic manipulation policies. Our approach leverages diverse, unconstrained human demonstrations collected with a handheld gripper (UMI) to train…
Robots are increasingly present in our lives, sharing the workspace and tasks with human co-workers. However, existing interfaces for human-robot interaction / cooperation (HRI/C) have limited levels of intuitiveness to use and safety is a…
The integration of dialogue interfaces in mobile devices has become ubiquitous, providing a wide array of services. As technology progresses, humanoid robots designed with human-like features to interact effectively with people are gaining…
We present a dataset for force-grounded, cross-view articulated manipulation that couples what is seen with what is done and what is felt during real human interaction. The dataset contains 3048 sequences across 381 articulated objects in…
Humanoid whole-body control requires adapting to diverse tasks such as navigation, loco-manipulation, and tabletop manipulation, each demanding a different mode of control. For example, navigation relies on root velocity tracking, while…
This paper describes the development of a real-time Human-Robot Interaction (HRI) system for a service robot based on 3D human activity recognition and human-like decision mechanism. The Human-Robot Interactive (HRI) system, which allows…
Humanoid robots that autonomously interact with physical environments over extended horizons represent a central goal of embodied intelligence. Existing approaches rely on reference motions or task-specific rewards, tightly coupling…
General-purpose humanoid robots are expected to interact intuitively with humans, enabling seamless integration into daily life. Natural language provides the most accessible medium for this purpose. However, translating language into…
Robots can use auditory, visual, or haptic interfaces to convey information to human users. The way these interfaces select signals is typically pre-defined by the designer: for instance, a haptic wristband might vibrate when the robot is…
There are many examples of cases where access to improved models of human behavior and cognition has allowed creation of robots which can better interact with humans, and not least in road vehicle automation this is a rapidly growing area…
Imagine sitting at your desk, looking at objects on it. You do not know their exact distances from your eye in meters, but you can immediately reach out and touch them. Instead of an externally defined unit, your sense of distance is tied…
Humans are well-adept at navigating public spaces shared with others, where current autonomous mobile robots still struggle: while safely and efficiently reaching their goals, humans communicate their intentions and conform to unwritten…
In this paper, we present a novel method for mobile manipulators to perform multiple contact-rich manipulation tasks. While learning-based methods have the potential to generate actions in an end-to-end manner, they often suffer from…