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This paper explores the challenges faced by assistive robots in effectively cooperating with humans, requiring them to anticipate human behavior, predict their actions' impact, and generate understandable robot actions. The study focuses on…
Building general-purpose intelligent robots has long been a fundamental goal of robotics. A promising approach is to mirror the evolutionary trajectory of humans: learning through continuous interaction with the environment, with early…
The increasing presence of robots in industries has not gone unnoticed. Large industrial players have incorporated them into their production lines, but smaller companies hesitate due to high initial costs and the lack of programming…
Assistive teleoperation, where control is shared between a human and a robot, enables efficient and intuitive human-robot collaboration in diverse and unstructured environments. A central challenge in real-world assistive teleoperation is…
In robotic, task goals can be conveyed through various modalities, such as language, goal images, and goal videos. However, natural language can be ambiguous, while images or videos may offer overly detailed specifications. To tackle these…
Purpose - Most industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. This is a tedious and time-consuming task that requires some technical expertise, and hence new approaches…
How can we enable users to create effective, perception-driven task plans for collaborative robots? We conducted a 35-person user study with the Behavior Tree-based CoSTAR system to determine which strategies for end user creation of…
Lengthy setup processes that require robotics expertise remain a major barrier to deploying robots for tasks involving high product variability and small batch sizes. As a result, collaborative robots, despite their advanced sensing and…
The emerging trend of AR/VR places great demands on 3D content. However, most existing software requires expertise and is difficult for novice users to use. In this paper, we aim to create sketch-based modeling tools for user-friendly 3D…
Assistive robots have the potential to help people perform everyday tasks. However, these robots first need to learn what it is their user wants them to do. Teaching assistive robots is hard for inexperienced users, elderly users, and users…
Assistive robots operating in household environments would require items to be available in the house to perform assistive tasks. However, when these items run out, the assistive robot must remind its user to buy the missing items. In this…
This paper presents the design and implementation of a Human Interface for a housekeeper robot. It bases on the idea of making the robot understand the human needs without making the human go through the details of robots work, for example,…
Assistive robotic arms often have more degrees-of-freedom than a human teleoperator can control with a low-dimensional input, like a joystick. To overcome this challenge, existing approaches use data-driven methods to learn a mapping from…
Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…
For robots to assist users with household tasks, they must first learn about the tasks from the users. Further, performing the same task every day, in the same way, can become boring for the robot's user(s), therefore, assistive robots must…
Hand-drawn sketches are a natural and efficient medium for capturing and conveying ideas. Despite significant advancements in controllable natural image generation, translating freehand sketches into structured, machine-readable diagrams…
We describe a mobile manipulation hardware and software system capable of autonomously performing complex human-level tasks in real homes, after being taught the task with a single demonstration from a person in virtual reality. This is…
As the first robotic platforms slowly approach our everyday life, we can imagine a near future where service robots will be easily accessible by non-expert users through vocal interfaces. The capability of managing natural language would…
We introduce AgentWorld, an interactive simulation platform for developing household mobile manipulation capabilities. Our platform combines automated scene construction that encompasses layout generation, semantic asset placement, visual…
People with lower and upper body disabilities can benefit from wheelchairs and robotic arms to improve mobility and independence. Prior assistive interfaces, such as touchscreens and voice-driven predefined commands, often remain…