相关论文: Show Me What You Can Do: Capability Calibration on…

Common experience suggests that agents who know each other well are better able to work together. In this work, we address the problem of calibrating intention and capabilities in human-robot collaboration. In particular, we focus on…

Understanding the intentions of human teammates is critical for safe and effective human-robot interaction. The canonical approach for human-aware robot motion planning is to first predict the human's goal or path, and then construct a…

There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…

Calibrating robots into their workspaces is crucial for manipulation tasks. Existing calibration techniques often rely on sensors external to the robot (cameras, laser scanners, etc.) or specialized tools. This reliance complicates the…

It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…

Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…

The recognition of actions performed by humans and the anticipation of their intentions are important enablers to yield sociable and successful collaboration in human-robot teams. Meanwhile, robots should have the capacity to deal with…

Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead,…

Tasks where robots must anticipate human intent, such as navigating around a cluttered home or sorting everyday items, are challenging because they exhibit a wide range of valid actions that lead to similar outcomes. Moreover, zero-shot…

This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…

Human-Robot-Collaboration can enhance workflows by leveraging the mutual strengths of human operators and robots. Planning and understanding robot movements remain major challenges in this domain. This problem is prevalent in dynamic…

We introduce RAMP, an open-source robotics benchmark inspired by real-world industrial assembly tasks. RAMP consists of beams that a robot must assemble into specified goal configurations using pegs as fasteners. As such, it assesses…

Reachability computations that rely on learned or estimated models require calibration in order to uphold confidence about their guarantees. Calibration generally involves sampling scenarios inside the reachable set. However, producing…

Recent advances in the areas of human-robot interaction (HRI) and robot autonomy are changing the world. Today robots are used in a variety of applications. People and robots work together in human autonomous teams (HATs) to accomplish…

Human-robot interaction can be divided into two categories based on the physical distance between the human and robot: remote and proximal. In proximal interaction, the human and robot often engage in close coordination; in remote…

This paper presents an approach for approximating the reachable space of robotic manipulators based on convex polytopes. The proposed approach predicts the reachable space over a given time horizon based on the robot's actuation limits and…

Human-robot teaming is one of the most important applications of artificial intelligence in the fast-growing field of robotics. For effective teaming, a robot must not only maintain a behavioral model of its human teammates to project the…

An important factor in developing control models for human-robot collaboration is how acceptable they are to their human partners. One such method for creating acceptable control models is to attempt to mimic human-like behaviour in robots…

Humans engaged in collaborative activities are naturally able to convey their intentions to teammates through multi-modal communication, which is made up of explicit and implicit cues. Similarly, a more natural form of human-robot…

Recent progress in human-robot collaboration makes fast and fluid interactions possible, even when human observations are partial and occluded. Methods like Interaction Probabilistic Movement Primitives (ProMP) model human trajectories…