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We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a…

In the trend towards tolerating hardware unreliability, accuracy is exchanged for cost savings. Running on less reliable machines, "functionally correct" code becomes risky and one needs to know how risk propagates so as to mitigate it.…

Development effort is an undeniable part of the project management which considerably influences the success of project. Inaccurate and unreliable estimation of effort can easily lead to the failure of project. Due to the special…

In modern engineering, computer simulations are a popular tool to analyse, design, and optimize systems. Furthermore, concepts of uncertainty and the related reliability analysis and robust design are of increasing importance. Hence, an…

This paper reports an analysis of aspects of the project planning stage. The object of research is the decision-making processes that take place at this stage. This work considers the problem of building a hierarchy of tasks, their…

Human-robot collaborative assembly systems enhance the efficiency and productivity of the workplace but may increase the workers' cognitive demand. This paper proposes an online and quantitative framework to assess the cognitive workload…

Intelligent robots need to generate and execute plans. In order to deal with the complexity of real environments, planning makes some assumptions about the world. When executing plans, the assumptions are usually not met. Most works have…

Uncertainty is prevalent in engineering design, data-driven problems, and decision making broadly. Due to inherent risk-averseness and ambiguity about assumptions, it is common to address uncertainty by formulating and solving conservative…

Empirical software engineering is concerned with measuring, or estimating, both the effort put into the software process and the quality of its product. We defend the idea that measuring process effort and product quality and establishing a…

In decision making a key source of uncertainty is people's perception of information which is influenced by their attitudes toward risk. Both, perception of information and risk attitude, affect the interpretation of information and hence…

Quantifying uncertainties in collective human behavior and decision making is crucial for ensuring public health and safety, enabling effective disaster response, informing the design of transportation and communication networks, and…

Understanding causes and effects in mechanical systems is an essential component of reasoning in the physical world. This work poses a new problem of counterfactual learning of object mechanics from visual input. We develop the CoPhy…

In the process of product design and digital fabrication, the structural analysis of a designed prototype is a fundamental and essential step. However, such a step is usually invisible or inaccessible to designers at the early sketching…

Rock skipping is a highly dynamic and relatively complex task that can easily be performed by humans. This project aims to bring rock skipping into a robotic setting, utilizing the lessons we learned in Robotic Manipulation. Specifically,…

In this paper, we delve into the pedestrian behavior understanding problem from the perspective of three different tasks: intention estimation, action prediction, and event risk assessment. We first define the tasks and discuss how these…

Multi-step forceful manipulation tasks, such as opening a push-and-twist childproof bottle, require a robot to make various planning choices that are substantially impacted by the requirement to exert force during the task. The robot must…

We conducted an exploratory study in virtual reality to examine if people can discover causal relations in a realistic sensorimotor context and how such learning is represented at different processing levels (conscious-cognitive vs.…

The concept of resilience embodies the quest towards the ability to sustain shocks, to suffer from these shocks as little as possible, for the shortest time possible, and to recover with the full functionalities that existed before the…

We are motivated by the problem of comparing the complexity of one robotic task relative to another. To this end, we define a notion of reduction that formalizes the following intuition: Task 1 reduces to Task 2 if we can efficiently…

Conventional approaches to grasp planning require perfect knowledge of an object's pose and geometry. Uncertainties in these quantities induce uncertainties in the quality of planned grasps, which can lead to failure. Classically, grasp…