相关论文: Shared Autonomy via Hindsight Optimization for Tel…

The field of Human-Robot Collaboration (HRC) has seen a considerable amount of progress in recent years. Thanks in part to advances in control and perception algorithms, robots have started to work in increasingly unstructured environments,…

One way of ensuring operator's safety during human-robot collaboration is through Speed and Separation Monitoring (SSM), as defined in ISO standard ISO/TS 15066. In general, it is impossible to avoid all human-robot collisions: consider for…

In this study, we propose a shared control method for teleoperated mobile robots using brain-machine interfaces (BMI). The control commands generated through BMI for robot operation face issues of low input frequency, discreteness, and…

It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…

Uncertainty plays a central role in spoken dialogue systems. Some stochastic models like Markov decision process (MDP) are used to model the dialogue manager. But the partially observable system state and user intention hinder the natural…

Perception and prediction modules are critical components of autonomous driving systems, enabling vehicles to navigate safely through complex environments. The perception module is responsible for perceiving the environment, including…

Fine-grained, contact-rich teleoperation remains slow, error-prone, and unreliable in real-world manipulation tasks, even for experienced operators. Shared autonomy offers a promising way to improve performance by combining human intent…

Robotic agents that share autonomy with a human should leverage human domain knowledge and account for their preferences when completing a task. This extra knowledge can dramatically improve plan efficiency and user-satisfaction, but these…

A remote collaboration setup allows an expert to instruct a remotely located novice user to help them with a task. Advanced solutions exist in the field of remote guidance and telemanipulation, however, we lack a device that combines these…

Shared autonomy systems require principled methods for inferring user intent and determining appropriate assistance levels. This is a central challenge in human-robot interaction, where systems must be successful while being mindful of user…

Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…

In this paper, we consider the problem of allocating human operator assistance in a system with multiple autonomous robots. Each robot is required to complete independent missions, each defined as a sequence of tasks. While executing a…

Safe and reliable autonomy solutions are a critical component of next-generation intelligent transportation systems. Autonomous vehicles in such systems must reason about complex and dynamic driving scenes in real time and anticipate the…

While motion planning techniques for automated vehicles in a reactive and anticipatory manner are already widely presented, approaches to cooperative motion planning are still remaining. In this paper, we present an approach to enhance…

We study planning problems where autonomous agents operate inside environments that are subject to uncertainties and not fully observable. Partially observable Markov decision processes (POMDPs) are a natural formal model to capture such…

Shared autonomy functions as a flexible framework that empowers robots to operate across a spectrum of autonomy levels, allowing for efficient task execution with minimal human oversight. However, humans might be intimidated by the…

We introduce a framework for cooperative manipulation, applied on an underactuated manipulation problem. Two stationary robotic manipulators are required to cooperate in order to reposition an object within their shared work space. Control…

For effective human-robot collaboration, a robot must align its actions with human goals, even as they change mid-task. Prior approaches often assume fixed goals, reducing goal prediction to a one-time inference. However, in real-world…

This paper presents a teleoperation system that includes robot perception and intent prediction from hand gestures. The perception module identifies the objects present in the robot workspace and the intent prediction module which object…

Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths, while enabling personalized execution of a task. However, for new soft robots with degrees of freedom dissimilar to those of human operators, it is…