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The information available to robots in real tasks is widely distributed both in time and space, requiring the agent to search for relevant data. In humans, that face the same problem when sounds, images and smells are presented to their…
Object handover is a common human collaboration behavior that attracts attention from researchers in Robotics and Cognitive Science. Though visual perception plays an important role in the object handover task, the whole handover process…
Laboratory robotics offer the capability to conduct experiments with a high degree of precision and reproducibility, with the potential to transform scientific research. Trivial and repeatable tasks; e.g., sample transportation for analysis…
Humans are very effective at interpreting subtle properties of the partner's movement and use this skill to promote smooth interactions. Therefore, robotic platforms that support human partners in daily activities should acquire similar…
Human-guided robotic exploration is a useful approach to gathering information at remote locations, especially those that might be too risky, inhospitable, or inaccessible for humans. Maintaining common ground between the remotely-located…
With increasing demand for mass customization, traditional manufacturing robots that rely on rule-based operations lack the flexibility to accommodate customized or new product variants. Human-Robot Collaboration has demonstrated potential…
Long-term Human-Robot Collaboration (HRC) is crucial for enabling flexible manufacturing systems and integrating companion robots into daily human environments over extended periods. This paper identifies several key challenges for such…
We propose a new 3D holistic++ scene understanding problem, which jointly tackles two tasks from a single-view image: (i) holistic scene parsing and reconstruction---3D estimations of object bounding boxes, camera pose, and room layout, and…
In future, robots will be present in everyday life. The development of these supporting robots is a challenge. A fundamental task for assistance robots is to pick up and hand over objects to humans. By interacting with users, soft factors…
We present an approach for safe and object-independent human-to-robot handovers using real time robotic vision and manipulation. We aim for general applicability with a generic object detector, a fast grasp selection algorithm and by using…
The problem of grasping objects using a multi-finger hand has received significant attention in recent years. However, it remains challenging to handle a large number of unfamiliar objects in real and cluttered environments. In this work,…
Inferring physical properties can significantly enhance robotic manipulation by enabling robots to handle objects safely and efficiently through adaptive grasping strategies. Previous approaches have typically relied on either tactile or…
Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…
Remarkable progress has been made in 3D human pose estimation from a monocular RGB camera. However, only a few studies explored 3D multi-person cases. In this paper, we attempt to address the lack of a global perspective of the top-down…
In the past decade, although single-robot perception has made significant advancements, the exploration of multi-robot collaborative perception remains largely unexplored. This involves fusing compressed, intermittent, limited,…
Eye-in-hand cameras have shown promise in enabling greater sample efficiency and generalization in vision-based robotic manipulation. However, for robotic imitation, it is still expensive to have a human teleoperator collect large amounts…
Multimodal task specification is essential for enhanced robotic performance, where \textit{Cross-modality Alignment} enables the robot to holistically understand complex task instructions. Directly annotating multimodal instructions for…
Large-scale robot learning has made progress on complex manipulation tasks, yet long horizon, contact rich problems, especially those involving deformable objects, remain challenging due to inconsistent demonstration quality. We propose a…
Robots are increasingly working alongside people, delivering food to patrons in restaurants or helping workers on assembly lines. These scenarios often involve object handovers between the person and the robot. To achieve safe and efficient…
Collaboration between human and robot requires effective modes of communication to assign robot tasks and coordinate activities. As communication can utilize different modalities, a multi-modal approach can be more expressive than single…