相关论文: HARMONIC: A Multimodal Dataset of Assistive Human-…
This paper explores the estimation of user attention in the setting of a cooperative handheld robot: a robot designed to behave as a handheld tool but that has levels of task knowledge. We use a tool-mounted gaze tracking system, which,…
As robots enter collaborative workspaces, ensuring mutual understanding between human workers and robotic systems becomes a prerequisite for trust, safety, and efficiency. In this position paper, we draw on the cooperation scenario of the…
As robotic technology advances, the barriers to the coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, collaborative manipulation, etc., are considered the need of…
The six-degree-of-freedom (6-DOF) robotic arm has gained widespread application in human-coexisting environments. While previous research has predominantly focused on functional motion generation, the critical aspect of expressive motion in…
This article investigates the challenge of achieving functional tool-use grasping with high-DoF anthropomorphic hands, with the aim of enabling anthropomorphic hands to perform tasks that require human-like manipulation and tool-use.…
Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world…
Autonomous driving is a popular research area within the computer vision research community. Since autonomous vehicles are highly safety-critical, ensuring robustness is essential for real-world deployment. While several public multimodal…
We are developing a system for human-robot communication that enables people to communicate with robots in a natural way and is focused on solving problems in a shared space. Our strategy for developing this system is fundamentally…
This paper introduces a new ROSbag-based multimodal affective dataset for emotional and cognitive states generated using Robot Operating System (ROS). We utilized images and sounds from the International Affective Pictures System (IAPS) and…
As robots transition from controlled settings to unstructured human environments, building generalist agents that can reliably follow natural language instructions remains a central challenge. Progress in robust mobile manipulation requires…
Human-robot collaboration has benefited users with higher efficiency towards interactive tasks. Nevertheless, most collaborative schemes rely on complicated human-machine interfaces, which might lack the requisite intuitiveness compared…
The new industrial settings are characterized by the presence of human and robots that work in close proximity, cooperating in performing the required job. Such a collaboration, however, requires to pay attention to many aspects. Firstly,…
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,…
Assistive and Wearable Robotics have the potential to support humans with different types of motor impairments to become independent and fulfil their activities of daily living successfully. The success of these robot systems, however,…
This paper introduces our dataset featuring human-robot interactions (HRI) in urban public environments. This dataset is rich with social signals that we believe can be modeled to help understand naturalistic human-robot interaction. Our…
We present a dataset for force-grounded, cross-view articulated manipulation that couples what is seen with what is done and what is felt during real human interaction. The dataset contains 3048 sequences across 381 articulated objects in…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…
Human-robot collaboration (HRC) introduces significant safety challenges, particularly in protecting human operators working alongside collaborative robots (cobots). While current ISO standards emphasize risk assessment and hazard…
Learning action models from real-world human-centric interaction datasets is important towards building general-purpose intelligent assistants with efficiency. However, most existing datasets only offer specialist interaction category and…