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

Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…

This paper proposes a robot action planning scheme that provides an efficient and probabilistically safe plan for a robot interacting with an unconcerned human -- someone who is either unaware of the robot's presence or unwilling to engage…

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…

In order to safely operate around humans, robots can employ predictive models of human motion. Unfortunately, these models cannot capture the full complexity of human behavior and necessarily introduce simplifying assumptions. As a result,…

Object placement is a fundamental task for robots, yet it remains challenging for partially observed objects. Existing methods for object placement have limitations, such as the requirement for a complete 3D model of the object or the…

Human-robot handovers are characterized by high uncertainty and poor structure of the problem that make them difficult tasks. While machine learning methods have shown promising results, their application to problems with large state…

With an increasing interest in human-robot collaboration, there is a need to develop robot behavior while keeping the human user's preferences in mind. Highly skilled human users doing delicate tasks require their robot partners to behave…

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…

Camouflaged Object Detection (COD), the task of identifying objects concealed within their environments, has seen rapid growth due to its wide range of practical applications. A key step toward developing trustworthy COD systems is the…

Human-robot object handover is a key skill for the future of human-robot collaboration. CORSMAL 2020 Challenge focuses on the perception part of this problem: the robot needs to estimate the filling mass of a container held by a human.…

This paper proposes a novel learning-free three-stage method that predicts grasping poses, enabling robots to pick up and transfer previously unseen objects. Our method first identifies potential structures that can afford the action of…

Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment. Acquiring accurate shape information about unknown objects is challenging, especially in…

Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…

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…

We introduce a novel simulation-based approach to identify hazards that result from unexpected worker behavior in human-robot collaboration. Simulation-based safety testing must take into account the fact that human behavior is variable and…

Recognising the characteristics of objects while a robot handles them is crucial for adjusting motions that ensure stable and efficient interactions with containers. Ahead of realising stable and efficient robot motions for…

Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…

Open containers, i.e., containers without covers, are an important and ubiquitous class of objects in human life. In this letter, we propose a novel method for robots to "imagine" the open containability affordance of a previously unseen…

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…

Task-oriented handovers (TOH) are fundamental to effective human-robot collaboration, requiring robots to present objects in a way that supports the human's intended post-handover use. Existing approaches are typically based on object- or…