Related papers: AnyUser: Translating Sketched User Intent into Dom…
Traditional approaches in physics-based motion generation, centered around imitation learning and reward shaping, often struggle to adapt to new scenarios. To tackle this limitation, we propose AnySkill, a novel hierarchical method that…
In this paper, we present a complete and efficient implementation of a knowledge-sharing augmented kinesthetic teaching approach for efficient task execution in robotics. Our augmented kinesthetic teaching method integrates intuitive human…
Foundation models are rapidly improving the capability of robots in performing everyday tasks autonomously such as meal preparation, yet robots will still need to be instructed by humans due to model performance, the difficulty of capturing…
How can we train an assistive human-machine interface (e.g., an electromyography-based limb prosthesis) to translate a user's raw command signals into the actions of a robot or computer when there is no prior mapping, we cannot ask the user…
Understanding the intentions of robots is essential for natural and seamless human-robot collaboration. Ensuring that robots have means for non-verbal communication is a basis for intuitive and implicit interaction. For this, we contribute…
People often watch videos on the web to learn how to cook new recipes, assemble furniture or repair a computer. We wish to enable robots with the very same capability. This is challenging; there is a large variation in manipulation actions…
This paper addresses the challenge of enabling a single robot to effectively assist multiple humans in decision-making for task planning domains. We introduce a comprehensive framework designed to enhance overall team performance by…
The number of robots deployed in our daily surroundings is ever-increasing. Even in the industrial set-up, the use of coworker robots is increasing rapidly. These cohabitant robots perform various tasks as instructed by co-located human…
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
Autonomous robots have the potential to serve as versatile caregivers that improve quality of life for millions of people worldwide. Yet, conducting research in this area presents numerous challenges, including the risks of physical…
Building embodied AI systems that can follow arbitrary language instructions in any 3D environment is a key challenge for creating general AI. Accomplishing this goal requires learning to ground language in perception and embodied actions,…
Industrial robotics is characterized by sophisticated mechanical components and highly-developed real-time control algorithms. However, the efficient use of robotic systems is very much limited by existing proprietary programming methods.…
In the field of Geriatronics, enabling effective and transparent communication between humans and robots is crucial for enhancing the acceptance and performance of assistive robots. Our early-stage research project investigates the…
Socially competent robots should be equipped with the ability to perceive the world that surrounds them and communicate about it in a human-like manner. Representative skills that exhibit such ability include generating image descriptions…
We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…
Wheelchair-mounted robotic arms (and other assistive robots) should 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…
Imagine a future when we can Zoom-call a robot to manage household chores remotely. This work takes one step in this direction. Robi Butler is a new household robot assistant that enables seamless multimodal remote interaction. It allows…
This paper presents UAIbot, a free and open-source web-based robotics simulator designed to address the educational and research challenges conventional simulation platforms generally face. The Python and JavaScript interfaces of UAIbot…
Novel end-user programming (EUP) tools enable on-the-fly (i.e., spontaneous, easy, and rapid) creation of interactions with robotic systems. These tools are expected to empower users in determining system behavior, although very little is…
Understanding user instructions in natural language is an active research topic in AI and robotics. Typically, natural user instructions are high-level and can be reduced into low-level tasks expressed in common verbs (e.g., `take', `get',…