Related papers: Multi-Modal Human-Machine Communication for Instru…

Humanoid robots have apparently similar body structure like human beings. Due to their technical design, they are sharing the same workspace with humans. They are placed to clean things, to assist old age people, to entertain us and most…

Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…

Human-robot collaborative tasks foresee interactions between humans and robots with various degrees of complexity. Specifically, for tasks which involve physical contact among the agents, challenges arise in the modelling and control of…

Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…

Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…

Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…

Force interaction is inevitable when robots face multiple operation scenarios. How to make the robot competent in force control for generalized operations such as multi-tasks still remains a challenging problem. Aiming at the…

Learning to perform manipulation tasks from human videos is a promising approach for teaching robots. However, many manipulation tasks require changing control parameters during task execution, such as force, which visual data alone cannot…

People employ expressive behaviors to effectively communicate and coordinate their actions with others, such as nodding to acknowledge a person glancing at them or saying "excuse me" to pass people in a busy corridor. We would like robots…

This paper comprehensively surveys research trends in imitation learning for contact-rich robotic tasks. Contact-rich tasks, which require complex physical interactions with the environment, represent a central challenge in robotics due to…

Generalist robots that can perform a range of different tasks in open-world settings must be able to not only reason about the steps needed to accomplish their goals, but also process complex instructions, prompts, and even feedback during…

Transfer of objects between humans and robots is a critical capability for collaborative robots. Although there has been a recent surge of interest in human-robot handovers, most prior research focus on robot-to-human handovers. Further,…

We present an augmented reality human-swarm interface that combines two modalities of interaction: environment-oriented and robot-oriented. The environment-oriented modality allows the user to modify the environment (either virtual or…

Soft robots are typically approximated as low-dimensional systems, especially when learning-based methods are used. This leads to models that are limited in their capability to predict the large number of deformation modes and interactions…

Robots in shared spaces often move in ways that are difficult for people to interpret, placing the burden on humans to adapt. High-DoF robots exhibit motion that people read as expressive, intentionally or not, making it important to…

We propose a novel system for robot-to-human object handover that emulates human coworker interactions. Unlike most existing studies that focus primarily on grasping strategies and motion planning, our system focus on 1. inferring human…

Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…

Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…

Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…