相关论文: Using Humanoid Robot to Instruct and Evaluate Perf…
Similarly to humans, humanoid robots require posture control and balance to walk and interact with the environment. In this work posture control in perturbed conditions is evaluated as a performance test for humanoid control. A specific…
To evaluate the design and skills of a robot or an algorithm for robotics, human-robot interaction user studies need to be performed. Classically, these studies are conducted by human experimenters, requiring considerable effort, and…
This paper presents a solution to controlling humanoid robotic systems. The robot can be programmed to execute certain complex actions based on basic motion primitives. The humanoid robot is programmed using a PC. The software running on…
When presented with an unknown robot (subject) how can an autonomous agent (learner) figure out what this new robot can do? The subject's appearance can provide cues to its physical as well as cognitive capabilities. Seeing a humanoid can…
Posture control and balance are basic requirements for a humanoid robot performing motor tasks like walking and interacting with the environment. For this reason, posture control is one of the elements taken into account when evaluating the…
Humanoid robots hold great promise in assisting humans in diverse environments and tasks, due to their flexibility and adaptability leveraging human-like morphology. However, research in humanoid robots is often bottlenecked by the costly…
Skilled motor behavior is critical in many human daily life activities and professions. The design of robots that can effectively teach motor skills is an important challenge in the robotics field. In particular, it is important to…
To facilitate human-robot interaction and gain human trust, a robot should recognize and adapt to changes in human behavior. This work documents different human behaviors observed while taking objects from an interactive robot in an…
Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…
Humanoid robots are envisioned as embodied intelligent agents capable of performing a wide range of human-level loco-manipulation tasks, particularly in scenarios requiring strenuous and repetitive labor. However, learning these skills is…
Learning from Demonstration (LfD) is a framework that allows lay users to easily program robots. However, the efficiency of robot learning and the robot's ability to generalize to task variations hinges upon the quality and quantity of the…
Humanoid robots have achieved significant progress in motion generation and control, exhibiting movements that appear increasingly natural and human-like. Inspired by the Turing Test, we propose the Motion Turing Test, a framework that…
Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…
In this work, we contribute a large-scale study benchmarking the performance of multiple motion-based learning from demonstration approaches. Given the number and diversity of existing methods, it is critical that comprehensive empirical…
Understanding action correspondence between humans and robots is essential for evaluating alignment in decision-making, particularly in human-robot collaboration and imitation learning within unstructured environments. We propose a…
Learning from human demonstrations has exhibited remarkable achievements in robot manipulation. However, the challenge remains to develop a robot system that matches human capabilities and data efficiency in learning and generalizability,…
Humanoid robots have shown success in locomotion and manipulation. Despite these basic abilities, humanoids are still required to quickly understand human instructions and react based on human interaction signals to become valuable…
Assistive robots have the potential to help people perform everyday tasks. However, these robots first need to learn what it is their user wants them to do. Teaching assistive robots is hard for inexperienced users, elderly users, and users…
Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…
Human--robot interaction requires robots whose actions are legible, allowing humans to interpret, predict, and feel safe around them. This study investigates the legibility of humanoid robot arm movements in a pointing task, aiming to…