相关论文: Learning Human Behaviors for Robot-Assisted Dressi…

In this work, we propose a gesture based language to allow humans to interact with robots using their body in a natural way. We have created a new gesture detection model using neural networks and a custom dataset of humans performing a set…

To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…

Learning predictive models from interaction with the world allows an agent, such as a robot, to learn about how the world works, and then use this learned model to plan coordinated sequences of actions to bring about desired outcomes.…

The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity…

Humans represent and discriminate the objects in the same category using their properties, and an intelligent robot should be able to do the same. In this paper, we build a robot system that can autonomously perceive the object properties…

In this paper, we propose a method for training control policies for human-robot interactions such as handshakes or hand claps via Deep Reinforcement Learning. The policy controls a humanoid Shadow Dexterous Hand, attached to a robot arm.…

Human-to-Robot handovers are useful for many Human-Robot Interaction scenarios. It is important to recognize when a human intends to initiate handovers, so that the robot does not try to take objects from humans when a handover is not…

The anticipation of human behavior is a crucial capability for robots to interact with humans safely and efficiently. We employ a smart edge sensor network to provide global observations, future predictions, and goal information to…

Assistive robotic devices can be used to help people with upper body disabilities gaining more autonomy in their daily life. Although basic motions such as positioning and orienting an assistive robot gripper in space allow performance of…

Proactive robot assistance enables a robot to anticipate and provide for a user's needs without being explicitly asked. We formulate proactive assistance as the problem of the robot anticipating temporal patterns of object movements…

When performing tasks like laundry, humans naturally coordinate both hands to manipulate objects and anticipate how their actions will change the state of the clothes. However, achieving such coordination in robotics remains challenging due…

Teaching an anthropomorphic robot from human example offers the opportunity to impart humanlike qualities on its movement. In this work we present a reinforcement learning based method for teaching a real world bipedal robot to perform…

Developing robots that can assist humans efficiently, safely, and adaptively is crucial for real-world applications such as healthcare. While previous work often assumes a centralized system for co-optimizing human-robot interactions, we…

This work explores the effect of object weight on human motion and grip release during handovers to enhance the naturalness, safety, and efficiency of robot-human interactions. We introduce adaptive robotic strategies based on the analysis…

Humans and animals are capable of learning a new behavior by observing others perform the skill just once. We consider the problem of allowing a robot to do the same -- learning from a raw video pixels of a human, even when there is…

Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform…

Robotic grasping in cluttered environments is often infeasible due to obstacles preventing possible grasps. Then, pre-grasping manipulation like shifting or pushing an object becomes necessary. We developed an algorithm that can learn, in…

Robots operating in human-centered environments should have the ability to understand how objects function: what can be done with each object, where this interaction may occur, and how the object is used to achieve a goal. To this end, we…

Many tasks performed by two humans require mutual interaction between arms such as handing-over tools and objects. In order for a robotic arm to interact with a human in the same way, it must reason about the location of the human arm in…

We present the effect of adapting to human preferences on trust in a human-robot teaming task. The team performs a task in which the robot acts as an action recommender to the human. It is assumed that the behavior of the human and the…