相关论文: Interactive Robot Transition Repair With SMT

Solving real-world manipulation tasks requires robots to have a repertoire of skills applicable to a wide range of circumstances. When using learning-based methods to acquire such skills, the key challenge is to obtain training data that…

Autonomous robots operating in complex, unstructured environments face significant challenges due to latent, unobserved factors that obscure their understanding of both their internal state and the external world. Addressing this challenge…

Robotic assembly is a longstanding challenge, requiring contact-rich interaction and high precision and accuracy. Many applications also require adaptivity to diverse parts, poses, and environments, as well as low cycle times. In other…

While trust in human-robot interaction is increasingly recognized as necessary for the implementation of social robots, our understanding of regulating trust in human-robot interaction is yet limited. In the current experiment, we evaluated…

Human multi-robot system (MRS) collaboration is demonstrating potentials in wide application scenarios due to the integration of human cognitive skills and a robot team's powerful capability introduced by its multi-member structure.…

Robot navigation systems are critical for various real-world applications such as delivery services, hospital logistics, and warehouse management. Although classical navigation methods provide interpretability, they rely heavily on expert…

Simulation parameter settings such as contact models and object geometry approximations are critical to training robust robotic policies capable of transferring from simulation to real-world deployment. Previous approaches typically…

In this paper we study the multiple-processor multitask scheduling problem in both deterministic and stochastic models, where each job have several tasks and is complete only when all its tasks are finished. We consider and analyze Modified…

Autonomy for robots interacting with sand will enable a wide range of beneficial behaviors, from earth moving for construction and farming vehicles to navigating rough terrain for Mars rovers. The goal of this work is to shape sand into…

Metamorphic Testing (MT) addresses the test oracle problem by examining the relationships between input-output pairs in consecutive executions of the System Under Test (SUT). These relations, known as Metamorphic Relations (MRs), specify…

In physical Human-Robot Collaboration (pHRC), accurate human intent estimation and rational human-robot role allocation are crucial for safe and efficient assistance. Existing methods that rely on short-term motion data for intention…

We propose a state estimation method that can accurately predict the robot's privileged states to push the limits of quadruped robots in executing advanced skills such as jumping in the wild. In particular, we present the State Estimation…

Prior human-robot interaction (HRI) research has primarily focused on single-user interactions, where robots do not need to consider the timing or recipient of their responses. However, in multi-party interactions, such as at malls and…

Achieving quadruped robot locomotion across diverse and dynamic terrains presents significant challenges, primarily due to the discrepancies between simulation environments and real-world conditions. Traditional sim-to-real transfer methods…

Manually authoring transition animations for a complete locomotion system can be a tedious and time-consuming task, especially for large games that allow complex and constrained locomotion movements, where the number of transitions grows…

Reinforcement learning (RL) can in principle let robots automatically adapt to new tasks, but current RL methods require a large number of trials to accomplish this. In this paper, we tackle rapid adaptation to new tasks through the…

The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…

Increasingly complex and autonomous robots are being deployed in real-world environments with far-reaching consequences. High-stakes scenarios, such as emergency response or offshore energy platform and nuclear inspections, require robot…

Robots are required to execute increasingly complex instructions in dynamic environments, which can lead to a disconnect between the user's intent and the robot's representation of the instructions. In this paper we present a natural…

Stiff dynamical systems present a challenge for machine-learning reduced-order models (ML-ROMs), as explicit time integration becomes unstable in stiff regimes while implicit integration within learning loops is computationally expensive…