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We present a reinforcement learning framework for autonomous goalkeeping with humanoid robots in real-world scenarios. While prior work has demonstrated similar capabilities on quadrupedal platforms, humanoid goalkeeping introduces two…

This paper develops intelligent algorithms for robots to reorient objects. Given the initial and goal poses of an object, the proposed algorithms plan a sequence of robot poses and grasp configurations that reorient the object from its…

Existing navigation systems mostly consider "success" when the robot reaches within 1m radius to a goal. This precision is insufficient for emerging applications where the robot needs to be positioned precisely relative to an object for…

In current state-of-the-art commercial first person shooter games, computer controlled bots, also known as non player characters, can often be easily distinguishable from those controlled by humans. Tell-tale signs such as failed…

Aligning humans' assessment of what a robot can do with its true capability is crucial for establishing a common ground between human and robot partners when they collaborate on a joint task. In this work, we propose an approach to…

This paper presents findings from an exploratory needfinding study investigating the research current status and potential participation of the competitions on the robotics community towards four human-centric topics: safety, privacy,…

Learning from demonstrations enables experts to teach robots complex tasks using interfaces such as kinesthetic teaching, joystick control, and sim-to-real transfer. However, these interfaces often constrain the expert's ability to…

When presented with an unknown robot (subject) how can an autonomous agent (learner) figure out what this new robot can do? The subject's appearance can provide cues to its physical as well as cognitive capabilities. Seeing a humanoid can…

This article offers a literature review of goalkeeper robots in the context of the RoboCupSoccer competition. The latter is one of the various league categories hosted by the RoboCup Federation, which fosters AI and Robotics with their…

Meeting eye contact is the essential prerequisite skill of a human to initiate any conversation with others. However, it is not an easy task for a robot to meet eye contact with a human if they are not facing each other initially or the…

Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…

This paper addresses the visibility-based pursuit-evasion problem where a team of pursuer robots operating in a two-dimensional polygonal space seek to establish visibility of an arbitrarily fast evader. This is a computationally…

The challenge of robotic reproduction -- making of new robots by recombining two existing ones -- has been recently cracked and physically evolving robot systems have come within reach. Here we address the next big hurdle: producing an…

Proximity perception is a technology that has the potential to play an essential role in the future of robotics. It can fulfill the promise of safe, robust, and autonomous systems in industry and everyday life, alongside humans, as well as…

When a robot performs a task next to a human, physical interaction is inevitable: the human might push, pull, twist, or guide the robot. The state-of-the-art treats these interactions as disturbances that the robot should reject or avoid.…

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…

This paper describes the approach used by Team UruBots for participation in the 2025 RoboCup Rescue Robot League competition. Our team aims to participate for the first time in this competition at RoboCup, using experience learned from…

This paper details our winning submission to Phase 1 of the 2021 Real Robot Challenge; a challenge in which a three-fingered robot must carry a cube along specified goal trajectories. To solve Phase 1, we use a pure reinforcement learning…

Training robots directly from human videos is an emerging area in robotics and computer vision. While there has been notable progress with two-fingered grippers, learning autonomous tasks for multi-fingered robot hands in this way remains…

In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly or explicitly control the contact force with the environment…