Related papers: RoSHI: A Versatile Robot-oriented Suit for Human D…
Human-robot teaming offers great potential because of the opportunities to combine strengths of heterogeneous agents. However, one of the critical challenges in realizing an effective human-robot team is efficient information exchange -…
Humans exhibit diverse and expressive whole-body movements. However, attaining human-like whole-body coordination in humanoid robots remains challenging, as conventional approaches that mimic whole-body motions often neglect the distinct…
This paper presents a novel human-robot interaction (HRI) framework that enables intuitive gesture-driven control through a capacitance-based woven tactile skin. Unlike conventional interfaces that rely on panels or handheld devices, the…
In industrial applications, complex tasks require human collaboration since the robot doesn't have enough dexterity. However, the robots are still implemented as tools and not as collaborative intelligent systems. To ensure safety in the…
Recent progress in legged locomotion has allowed highly dynamic and parkour-like behaviors for robots, similar to their biological counterparts. Yet, these methods mostly rely on egocentric (first-person) perception, limiting their…
In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…
Reliable embodied perception from an egocentric perspective is challenging yet essential for autonomous navigation technology of intelligent mobile agents. With the growing demand of social robotics, near-field scene understanding becomes…
As the use of Augmented Reality (AR) to enhance interactions between human agents and robotic systems in a work environment continues to grow, robots must communicate their intents in informative yet straightforward ways. This improves the…
Wearable sensors such as Inertial Measurement Units (IMUs) are often used to assess the performance of human exercise. Common approaches use handcrafted features based on domain expertise or automatically extracted features using time…
Integrating real-time, complex social signal processing into robotic systems -- especially in real-world, multi-party interaction situations -- is a challenge faced by many in the Human-Robot Interaction (HRI) community. The difficulty is…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
Maintaining situational awareness (SA) is critical in human-robot teams. Yet, under high workload and dynamic conditions, operators often experience SA gaps. Automated detection of SA gaps could provide timely assistance for operators.…
The scale and diversity of demonstration data required for imitation learning is a significant challenge. We present EgoMimic, a full-stack framework which scales manipulation via human embodiment data, specifically egocentric human videos…
This work focuses on tracking and understanding human motion using consumer wearable devices, such as VR/AR headsets, smart glasses, cellphones, and smartwatches. These devices provide diverse, multi-modal sensor inputs, including…
The next generation of human-oriented computing will require always-on, spatially-aware wearable devices to capture egocentric vision and functional primitives (e.g., Where am I? What am I looking at?, etc.). These devices will sense an…
Navigation solutions suitable for cases when both autonomous robot's pose (\textit{i.e}., attitude and position) and its environment are unknown are in great demand. Simultaneous Localization and Mapping (SLAM) fulfills this need by…
In monocular vision systems, lack of knowledge about metric distances caused by the inherent scale ambiguity can be a strong limitation for some applications. We offer a method for fusing inertial measurements with monocular odometry or…
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…
One of the key arguments for building robots that have similar form factors to human beings is that we can leverage the massive human data for training. Yet, doing so has remained challenging in practice due to the complexities in humanoid…