相关论文: Adaptable Human Intention and Trajectory Predictio…

Human motion prediction is key to understand social environments, with direct applications in robotics, surveillance, etc. We present a simple yet effective pedestrian trajectory prediction model aimed at pedestrians positions prediction in…

As multi-robot systems (MRS) are widely used in various tasks such as natural disaster response and social security, people enthusiastically expect an MRS to be ubiquitous that a general user without heavy training can easily operate.…

Agents that assist people need to have well-initialized policies that can adapt quickly to align with their partners' reward functions. Initializing policies to maximize performance with unknown partners can be achieved by bootstrapping…

During crowd navigation, robot motion plan needs to consider human motion uncertainty, and the human motion uncertainty is dependent on the robot motion plan. We introduce Interaction-aware Conformal Prediction (ICP) to alternate…

In order to safely operate around humans, robots can employ predictive models of human motion. Unfortunately, these models cannot capture the full complexity of human behavior and necessarily introduce simplifying assumptions. As a result,…

This paper considers an optimal task allocation problem for human robot collaboration in human robot systems with persistent tasks. Such human robot systems consist of human operators and intelligent robots collaborating with each other to…

This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predictive model that uniquely casts the user's sequential…

Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees since robots coordinate with human actions in a shared workspace. This paper presents a novel fixed-time adaptive neural control methodology for…

Robot decision-making increasingly relies on data-driven human prediction models when operating around people. While these models are known to mispredict in out-of-distribution interactions, only a subset of prediction errors impact…

This paper proposes a novel approach that enables a robot to learn an objective function incrementally from human directional corrections. Existing methods learn from human magnitude corrections; since a human needs to carefully choose the…

This paper presents an online intention prediction framework for estimating the goal state of autonomous systems in real time, even when intention is time-varying, and system dynamics or objectives include unknown parameters. The problem is…

The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…

In this paper, we consider a robot navigation problem in environments populated by humans. The goal is to determine collision-free and dynamically feasible trajectories that also maximize human satisfaction. This is because they may drive…

Understanding how humans evaluate robot behavior during human-robot interactions is crucial for developing socially aware robots that behave according to human expectations. While the traditional approach to capturing these evaluations is…

Conformal prediction has emerged as a powerful framework for constructing distribution-free prediction sets with guaranteed coverage assuming only the exchangeability assumption. However, this assumption is often violated in online…

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…

Predicting the next action that a human is most likely to perform is key to human-AI collaboration and has consequently attracted increasing research interests in recent years. An important factor for next action prediction are human…

Producing robust task plans in human-robot collaborative missions is a critical activity in order to increase the likelihood of these missions completing successfully. Despite the broad research body in the area, which considers different…

Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…

In autonomous vehicle (AV) technology, the ability to accurately predict the movements of surrounding vehicles is paramount for ensuring safety and operational efficiency. Incorporating human decision-making insights enables AVs to more…