相关论文: Mixed-Reality Robot Behavior Replay: A System Impl…
As robots enter human environments, they will be expected to accomplish a tremendous range of tasks. It is not feasible for robot designers to pre-program these behaviors or know them in advance, so one way to address this is through…
Robot assistants for older adults and people with disabilities need to interact with their users in collaborative tasks. The core component of these systems is an interaction manager whose job is to observe and assess the task, and infer…
Consider the scenario where a human cleans a table and a robot observing the scene is instructed with the task "Remove the cloth using which I wiped the table". Instruction following with temporal reasoning requires the robot to identify…
In this paper we will give a control theoretic perspective on the research area of behavior trees in robotics. The key idea underlying behavior trees is to make use of modularity, hierarchies and feedback, in order to handle the complexity…
To facilitate human-robot interaction and gain human trust, a robot should recognize and adapt to changes in human behavior. This work documents different human behaviors observed while taking objects from an interactive robot in an…
Conventionally, memory in end-to-end robotic learning involves inputting a sequence of past observations into the learned policy. However, in complex multi-stage real-world tasks, the robot's memory must represent past events at multiple…
We consider the problem of people search by a mobile social robot in case of a situation that cannot be solved by the robot alone. Examples are physically opening a closed door or operating an elevator. Based on the Behavior Tree framework,…
Generating robot motion that fulfills multiple tasks simultaneously is challenging due to the geometric constraints imposed by the robot. In this paper, we propose to solve multi-task problems through learning structured policies from human…
As intelligent robots become more integrated into human environments, there is a growing need for intuitive and reliable Human-Robot Interaction (HRI) interfaces that are adaptable and more natural to interact with. Traditional robot…
Verbalization of robot experience, i.e., summarization of and question answering about a robot's past, is a crucial ability for improving human-robot interaction. Previous works applied rule-based systems or fine-tuned deep models to…
Behavior Trees (BT) are becoming increasingly popular in the robotics community. The BT tool is well suited for decision-making applications allowing a robot to perform complex behavior while being explainable to humans as well. Verifying…
Interpretable policy representations like Behavior Trees (BTs) and Dynamic Motion Primitives (DMPs) enable robot skill transfer from human demonstrations, but each faces limitations: BTs require expert-crafted low-level actions, while DMPs…
Humans routinely rely on memory to perform tasks, yet most robot policies lack this capability; our goal is to endow robot policies with the same ability. Naively conditioning on long observation histories is computationally expensive and…
In a robot-centered smart home, the robot observes the home states with its own sensors, and then it can change certain object states according to an operator's commands for remote operations, or imitate the operator's behaviors in the…
Robot navigation in dynamic environments shared with humans is an important but challenging task, which suffers from performance deterioration as the crowd grows. In this paper, multi-subgoal robot navigation approach based on deep…
We present ReTracing, a multi-agent embodied performance art that adopts an archaeological approach to examine how artificial intelligence shapes, constrains, and produces bodily movement. Drawing from science-fiction novels, the project…
In this work, we propose a gesture based language to allow humans to interact with robots using their body in a natural way. We have created a new gesture detection model using neural networks and a custom dataset of humans performing a set…
This paper presents a novel system that enables intelligent robots to exhibit realistic body gestures while communicating with humans. The proposed system consists of a listening model and a speaking model used in corresponding…
Robotic behavior synthesis, the problem of understanding multimodal inputs and generating precise physical control for robots, is an important part of Embodied AI. Despite successes in applying multimodal large language models for…
Multi-robot task planning and collaboration are critical challenges in robotics. While Behavior Trees (BTs) have been established as a popular control architecture and are plannable for a single robot, the development of effective…