相关论文: Towards safe human-to-robot handovers of unknown c…

Humans have an extraordinary ability to communicate and read the properties of objects by simply watching them being carried by someone else. This level of communicative skills and interpretation, available to humans, is essential for…

In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…

We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…

Bidirectional object handover between a human and a robot enables an important functionality skill in robotic human-centered manufacturing or services. The problem in achieving this skill lies in the capacity of any solution to deal with…

Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…

Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…

Reasoning about object handover configurations allows an assistive agent to estimate the appropriateness of handover for a receiver with different arm mobility capacities. While there are existing approaches for estimating the effectiveness…

Transparent objects are common in daily life, while their optical properties pose challenges for RGB-D cameras to capture accurate depth information. This issue is further amplified when these objects are hand-held, as hand occlusions…

In this paper, we present an approach for quantifying the propagated uncertainty of robot systems in an online and data-driven manner. Especially in Human-Robot Collaboration, keeping track of the safety compliance during run time is…

We present a probabilistic approach for building, on the fly, 3-D models of unknown objects while being manipulated by a robot. We specifically consider manipulation tasks in piles of clutter that contain previously unseen objects. Most…

This paper presents GenH2R, a framework for learning generalizable vision-based human-to-robot (H2R) handover skills. The goal is to equip robots with the ability to reliably receive objects with unseen geometry handed over by humans in…

During a robot to human object handover task, several intended or unintended events may occur with the object - it may be pulled, pushed, bumped or simply held - by the human receiver. We show that it is possible to differentiate between…

Recently, there has been a growing interest in rescue robots due to their vital role in addressing emergency scenarios and providing crucial support in challenging or hazardous situations where human intervention is difficult. However, very…

This paper introduces MobileH2R, a framework for learning generalizable vision-based human-to-mobile-robot (H2MR) handover skills. Unlike traditional fixed-base handovers, this task requires a mobile robot to reliably receive objects in a…

Human-robot interaction (HRI) encompasses a wide range of collaborative tasks, with handover being one of the most fundamental. As robots become more integrated into human environments, the potential for service robots to assist in handing…

We present a novel framework for estimating accident-prone regions in everyday indoor scenes, aimed at improving real-time risk awareness in service robots operating in human-centric environments. As robots become integrated into daily…

Humans learn about objects via interaction and using multiple perceptions, such as vision, sound, and touch. While vision can provide information about an object's appearance, non-visual sensors, such as audio and haptics, can provide…

While general object recognition is still far from being solved, this paper proposes a way for a robot to recognize every object at an almost human-level accuracy. Our key observation is that many robots will stay in a relatively closed…

Future service robots working in human environments, such as kitchens, will face situations where they need to improvise. The usual tool for a given task might not be available and the robot will have to use some substitute tool. The robot…

Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed, collaborate precisely, and interact…