相关论文: Supporting User Autonomy with Multimodal Fusion to…

Assistive robotic devices can increase the independence of individuals with motor impairments. However, each person is unique in their level of injury, preferences, and skills, which moreover can change over time. Further, the amount of…

Soft robots are typically approximated as low-dimensional systems, especially when learning-based methods are used. This leads to models that are limited in their capability to predict the large number of deformation modes and interactions…

Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…

Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…

Human-machine interaction has been around for several decades now, with new applications emerging every day. One of the major goals that remain to be achieved is designing an interaction similar to how a human interacts with another human.…

In robot-assisted therapy for individuals with Autism Spectrum Disorder, the workload of therapists during a therapeutic session is increased if they have to control the robot manually. To allow therapists to focus on the interaction with…

The safety of an automated vehicle hinges crucially upon the accuracy of perception and decision-making latency. Under these stringent requirements, future automated cars are usually equipped with multi-modal sensors such as cameras and…

The dominant paradigm for end-to-end robot learning focuses on optimizing task-specific objectives that solve a single robotic problem such as picking up an object or reaching a target position. However, recent work on high-capacity models…

Perception is essential for the active interaction of physical agents with the external environment. The integration of multiple sensory modalities, such as touch and vision, enhances this perceptual process, creating a more comprehensive…

In shared autonomy, a user and autonomous system work together to achieve shared goals. To collaborate effectively, the autonomous system must know the user's goal. As such, most prior works follow a predict-then-act model, first predicting…

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,…

Autonomous robots must operate in complex and changing environments subject to requirements on their behaviour. Verifying absolute satisfaction (true or false) of these requirements is challenging. Instead, we analyse requirements that…

Integration of multimodal information from various sources has been shown to boost the performance of machine learning models and thus has received increased attention in recent years. Often such models use deep modality-specific networks…

Robots operating alongside humans often encounter unfamiliar environments that make autonomous task completion challenging. Though improving models and increasing dataset size can enhance a robot's performance in unseen environments, data…

Patients suffering from quadriplegia have limited body motion which prevents them from performing daily activities. We have developed an assistive robotic system with an intuitive free-view gaze interface. The user's point of regard is…

Autonomous driving technology has advanced significantly, yet detecting driving anomalies remains a major challenge due to the long-tailed distribution of driving events. Existing methods primarily rely on single-modal road condition video…

In the domain of assistive robotics, the significance of effective modeling is well acknowledged. Prior research has primarily focused on enhancing model accuracy or involved the collection of extensive, often impractical amounts of data.…

In socially assistive robotics, an important research area is the development of adaptation techniques and their effect on human-robot interaction. We present a meta-learning based policy gradient method for addressing the problem of…

Assistive robotic systems have shown growing potential to improve the quality of life of those with disabilities. As researchers explore the automation of various caregiving tasks, considerations for how the technology can still preserve…

Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…