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

Perception and prediction modules are critical components of autonomous driving systems, enabling vehicles to navigate safely through complex environments. The perception module is responsible for perceiving the environment, including…

We explore the probabilistic foundations of shared control in complex dynamic environments. In order to do this, we formulate shared control as a random process and describe the joint distribution that governs its behavior. For…

Natural human interactions for Mixed Reality Applications are overwhelmingly multimodal: humans communicate intent and instructions via a combination of visual, aural and gestural cues. However, supporting low-latency and accurate…

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…

Many industrial tasks-such as sanding, installing fasteners, and wire harnessing-are difficult to automate due to task complexity and variability. We instead investigate deploying robots in an assistive role for these tasks, where the robot…

This paper proposes a wearable-controlled mobile manipulator system for intelligent smart home assistance, integrating MEMS capacitive microphones, IMU sensors, vibration motors, and pressure feedback to enhance human-robot interaction. The…

Despite the fact that robotic platforms can provide both consistent practice and objective assessments of users over the course of their training, there are relatively few instances where physical human robot interaction has been…

Being able to assess the confidence of individual predictions in machine learning models is crucial for decision making scenarios. Specially, in critical applications such as medical diagnosis, security, and unmanned vehicles, to name a…

Human-Robot-Interaction (HRI) research is typically built around the premise that the robot serves to assist a human in achieving a human-led goal or shared task. However, there are many circumstances during HRI in which a robot may need…

As intelligent agents transition from controlled to uncontrolled environments, they face challenges that sometimes exceed their operational capabilities. In many scenarios, they rely on assistance from bystanders to overcome those…

Machine learning models are widely used to support stealth assessment in digital learning environments. Existing approaches typically rely on abstracted gameplay log data, which may overlook subtle behavioral cues linked to learners'…

Modern machine learning models often combine multiple input streams of data to more accurately capture the information that informs their decisions. In multimodal machine learning, choosing the strategy for fusing data together requires…

In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…

Multi-sensor frameworks provide opportunities for ensemble learning and sensor fusion to make use of redundancy and supplemental information, helpful in real-world safety applications such as continuous driver state monitoring which…

People living with dementia (PLWDs) face progressively declining abilities in medication management-from simple forgetfulness to complete task breakdown-yet most assistive technologies fail to adapt to these changing needs. This…

In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…

Sophisticated user interaction in the automotive industry is a fast emerging topic. Mid-air gestures and speech already have numerous applications for driver-car interaction. Additionally, multimodal approaches are being developed to…

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…

Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a…

Effective assisted living environments must be able to perform inferences on how their occupants interact with one another as well as with surrounding objects. To accomplish this goal using a vision-based automated approach, multiple tasks…