相关论文: SPARCS: Structuring Physically Assistive Robotics …
Autonomous robots operating in unstructured, safety-critical environments, from planetary exploration to warehouses and homes, must learn to safely navigate and interact with their surroundings despite limited prior knowledge. Current…
3D scene graphs (3DSGs) are an emerging description; unifying symbolic, topological, and metric scene representations. However, typical 3DSGs contain hundreds of objects and symbols even for small environments; rendering task planning on…
Service robots are expected to autonomously and efficiently work in human-centric environments. For this type of robots, object perception and manipulation are challenging tasks due to need for accurate and real-time response. This paper…
The blocks world is a classic toy domain that has long been used to build and test spatial reasoning systems. Despite its relative simplicity, tackling this domain in its full complexity requires the agent to exhibit a rich set of…
For massive large-scale tasks, a multi-robot system (MRS) can effectively improve efficiency by utilizing each robot's different capabilities, mobility, and functionality. In this paper, we focus on the multi-robot coverage path planning…
In this work, we propose CARLS, a novel framework for augmenting the capacity of existing deep learning frameworks by enabling multiple components -- model trainers, knowledge makers and knowledge banks -- to concertedly work together in an…
Despite their growing popularity, swarms of robots remain limited by the operating time of each individual. We present algorithms which allow a human to sculpt a swarm of robots into a shape that persists in space perpetually, independent…
Many robotic platforms expose an API through which external software can command their actuators and read their sensors. However, transitioning from these low-level interfaces to high-level autonomous behaviour requires a complicated…
Despite recent major advances in robotics research, massive injections of capital into robotics startups, and significant market appetite for robotic solutions, large-scale real-world deployments of robotic systems remain relatively scarce…
Robotic-assisted surgery (RAS) introduces complex challenges that current surgical error detection methods struggle to address effectively due to limited training data and methodological constraints. Therefore, we construct MERP…
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…
Robots are becoming more prominent in assisting persons with disabilities (PwD). Whilst there is broad consensus that robots can assist in mitigating physical impairments, the extent to which they can facilitate social inclusion remains…
Building home assistant robots has long been a pursuit for vision and robotics researchers. To achieve this task, a simulated environment with physically realistic simulation, sufficient articulated objects, and transferability to the real…
One of the typical purposes of using lower-limb exoskeleton robots is to provide assistance to the wearer by supporting their weight and augmenting their physical capabilities according to a given task and human motion intentions. The…
Robot simulators are indispensable tools across many fields, and recent research has significantly improved their functionality by incorporating additional gradient information. However, existing differentiable robot simulators suffer from…
This paper presents SYMBIOSIS, an AI-powered framework and platform designed to make Systems Thinking accessible for addressing societal challenges and unlock paths for leveraging systems thinking frameworks to improve AI systems. The…
Assistive technologies increasingly support independence, accessibility, and safety for older adults, people with disabilities, and individuals requiring continuous care. Two major categories are virtual assistive systems and robotic…
Robotic shepherding is a bio-inspired approach to autonomously guiding a swarm of agents towards a desired location. The research area has earned increasing research interest recently due to the efficacy of controlling a large number of…
Despite living in an increasingly connected world, social isolation is a prevalent issue today. While social robots have been explored as tools to enhance social connection through companionship, their potential as asynchronous social…
Companion robots hold immense potential in providing emotional support to older adults in the rapidly aging world. However, questions have been raised regarding whether having a robotic companion benefits healthy older adults, how they…