Related papers: DiSCo: Diffusion Sequence Copilots for Shared Auto…
Autonomous driving promises significant advancements in mobility, road safety and traffic efficiency, yet reinforcement learning and imitation learning face safe-exploration and distribution-shift challenges. Although human-AI collaboration…
Diffusion models hold great potential in robotics due to their ability to capture complex, high-dimensional data distributions. However, their lack of constraint-awareness limits their deployment in safety-critical applications. We propose…
Collaborating teams of robots show promise due in their ability to complete missions more efficiently and with improved robustness, attributes that are particularly useful for systems operating in marine environments. A key issue is how to…
Learning visuomotor policy for multi-task robotic manipulation has been a long-standing challenge for the robotics community. The difficulty lies in the diversity of action space: typically, a goal can be accomplished in multiple ways,…
We study the distributed optimization of transmit strategies in a multiple-input, single-output (MISO) interference channel (IFC). Existing distributed algorithms rely on stricly synchronized update steps by the individual users. They…
Safe and effective motion planning is crucial for autonomous robots. Diffusion models excel at capturing complex agent interactions, a fundamental aspect of decision-making in dynamic environments. Recent studies have successfully applied…
Diffusion models have emerged as powerful generative models in the text-to-image domain. This paper studies their application as observation-to-action models for imitating human behaviour in sequential environments. Human behaviour is…
We investigate how robotic camera systems can offer new capabilities to computer-supported cooperative work through the design, development, and evaluation of a prototype system called Periscope. With Periscope, a local worker completes…
Simultaneously grasping and delivering multiple objects can significantly enhance robotic work efficiency and has been a key research focus for decades. The primary challenge lies in determining how to push objects, group them, and execute…
Learning visuomotor policies via behavior cloning typically involves mimicking expert demonstrations collected by human operators. However, natural human demonstrations inherently contain high-frequency noise, such as intermittent jerks,…
Diffusion models have recently been successfully applied to a wide range of robotics applications for learning complex multi-modal behaviors from data. However, prior works have mostly been confined to single-robot and small-scale…
Assistive technologies and in particular assistive robotic arms have the potential to enable people with motor impairments to live a self-determined life. More and more of these systems have become available for end users in recent years,…
Inspired by biological swarms, robotic swarms are envisioned to solve real-world problems that are difficult for individual agents. Biological swarms can achieve collective intelligence based on local interactions and simple rules; however,…
The paper introduces DiSProD, an online planner developed for environments with probabilistic transitions in continuous state and action spaces. DiSProD builds a symbolic graph that captures the distribution of future trajectories,…
Assistive robot arms try to help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control over the robot's motion: as the robot…
The purpose of this paper is to develop a shared control takeover strategy for smooth and safety control transition from an automation driving system to the human driver and to approve its positive impacts on drivers' behavior and…
Users of shared control systems change their behavior in the presence of assistance, which conflicts with assumpts about user behavior that some assistance methods make. In this paper, we propose an analysis technique to evaluate the user's…
We present Diffuse-CLoC, a guided diffusion framework for physics-based look-ahead control that enables intuitive, steerable, and physically realistic motion generation. While existing kinematics motion generation with diffusion models…
A robot needs multiple interaction modes to robustly collaborate with a human in complicated industrial tasks. We develop a Coexistence-and-Cooperation (CoCo) human-robot collaboration system. Coexistence mode enables the robot to work with…
Recent advances in diffusion$/$flow-matching policies have enabled imitation learning of complex, multi-modal action trajectories. However, they are computationally expensive because they sample a trajectory of trajectories: a…