相关论文: Learning User-Preferred Mappings for Intuitive Rob…
The anticipation of human behavior is a crucial capability for robots to interact with humans safely and efficiently. We employ a smart edge sensor network to provide global observations, future predictions, and goal information to…
Quantifying and encoding occupants' preferences as an objective function for the tactical decision making of autonomous vehicles is a challenging task. This paper presents a low-complexity approach for lane-change initiation and planning to…
Haptic feedback can improve safety of teleoperated robots when situational awareness is limited or operators are inattentive. Standard potential field approaches increase haptic resistance as an obstacle is approached, which is desirable…
Mapping operator motions to a robot is a key problem in teleoperation. Due to differences between workspaces, such as object locations, it is particularly challenging to derive smooth motion mappings that fulfill different goals (e.g.…
The control of collective robotic systems, such as drone swarms, is often delegated to autonomous navigation algorithms due to their high dimensionality. However, like other robotic entities, drone swarms can still benefit from being…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…
Collaborative robots must quickly adapt to their partner's intent and preferences to proactively identify helpful actions. This is especially true in situated settings where human partners can continually teach robots new high-level…
Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…
Autonomous mobility tasks such as lastmile delivery require reasoning about operator indicated preferences over terrains on which the robot should navigate to ensure both robot safety and mission success. However, coping with out of…
Recent advances in robot learning have enabled robots to become increasingly better at mastering a predefined set of tasks. On the other hand, as humans, we have the ability to learn a growing set of tasks over our lifetime. Continual robot…
Robot understanding of human intentions is essential for fluid human-robot interaction. Intentions, however, cannot be directly observed and must be inferred from behaviors. We learn a model of adaptive human behavior conditioned on the…
Traditional control and planning for robotic manipulation heavily rely on precise physical models and predefined action sequences. While effective in structured environments, such approaches often fail in real-world scenarios due to…
One of the key factors determining whether autonomous vehicles (AVs) can be seamlessly integrated into existing traffic systems is their ability to interact smoothly and efficiently with human drivers and communicate their intentions. While…
This paper examines the effect of real-time, personalized alignment of a robot's reward function to the human's values on trust and team performance. We present and compare three distinct robot interaction strategies: a non-learner strategy…
Artificial Intelligence is being employed by humans to collaboratively solve complicated tasks for search and rescue, manufacturing, etc. Efficient teamwork can be achieved by understanding user preferences and recommending different…
Harnessing human movements to command an Unmanned Aerial Vehicle (UAV) holds the potential to revolutionize their deployment, rendering it more intuitive and user-centric. In this research, we introduce a novel methodology adept at…
Users of assistive devices vary in their extent of motor impairment, and hence their physical interaction with control interfaces can differ. There is the potential for improved utility if control interface actuation is mapped to assistive…
Chopsticks constitute a simple yet versatile tool that humans have used for thousands of years to perform a variety of challenging tasks ranging from food manipulation to surgery. Applying such a simple tool in a diverse repertoire of…
Purpose: Recent developments in robotics and artificial intelligence (AI) have led to significant advances in healthcare technologies enhancing robot-assisted minimally invasive surgery (RAMIS) in some surgical specialties. However, current…