相关论文: Rearrange Indoor Scenes for Human-Robot Co-Activit…

For robots to perform assistive tasks in unstructured home environments, they must learn and reason on the semantic knowledge of the environments. Despite a resurgence in the development of semantic reasoning architectures, these methods…

Robots with a high level of autonomy are increasingly requested by smart industries. A way to reduce the workers' stress and effort is to optimize the working environment by taking advantage of autonomous collaborative robots. A typical…

We present a multi-robot task and motion planning method that, when applied to the rearrangement of objects by manipulators, results in solution times up to three orders of magnitude faster than existing methods and successfully plans for…

Recent work in robotic manipulation focuses on object retrieval in cluttered spaces under occlusion. Nevertheless, the majority of efforts lack an analysis of conditions for the completeness of the approaches or the methods apply only when…

Scene graph alignment establishes object correspondences between two 3D scene graphs constructed from partially overlapping observations. This enables efficient scene understanding and object-level relocalization when a robot revisits a…

Animating human-scene interactions such as pick-and-place tasks in cluttered, complex layouts is a challenging task, with objects of a wide variation of geometries and articulation under scenarios with various obstacles. The main difficulty…

Shelves are commonly used to store objects in homes, stores, and warehouses. We formulate the problem of Optimal Shelf Arrangement (OSA), where the goal is to optimize the arrangement of objects on a shelf for access time given an access…

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…

Numerical optimization has become a popular approach to plan smooth motion trajectories for robots. However, when sharing space with humans, balancing properly safety, comfort and efficiency still remains challenging. This is notably the…

Co-designing a robot's morphology and control can ensure synergistic interactions between them, prevalent in biological organisms. However, co-design is a high-dimensional search problem. To make this search tractable, we need a systematic…

In this paper, we focus on the modification of policies that can lead to movement patterns and directional guidance of occupants, which are represented as agents in a 3D simulation engine. We demonstrate an optimization method that improves…

Synthesizing interaction-involved human motions has been challenging due to the high complexity of 3D environments and the diversity of possible human behaviors within. We present LAMA, Locomotion-Action-MAnipulation, to synthesize natural…

The co-adaptation of robots has been a long-standing research endeavour with the goal of adapting both body and behaviour of a system for a given task, inspired by the natural evolution of animals. Co-adaptation has the potential to…

The intuitive collaboration of humans and intelligent robots (embodied AI) in the real-world is an essential objective for many desirable applications of robotics. Whilst there is much research regarding explicit communication, we focus on…

A long-standing goal of the Human-Robot Collaboration (HRC) in manufacturing systems is to increase the collaborative working efficiency. In line with the trend of Industry 4.0 to build up the smart manufacturing system, the Co-robot in the…

Joint optimization of poses and features has been extensively studied and demonstrated to yield more accurate results in feature-based SLAM problems. However, research on jointly optimizing poses and non-feature-based maps remains limited.…

Assembly processes involving humans and robots are challenging scenarios because the individual activities and access to shared workspace have to be coordinated. Fixed robot programs leave no room to diverge from a fixed protocol. Working…

Enabling robotic manipulation that generalizes to out-of-distribution scenes is a crucial step toward open-world embodied intelligence. For human beings, this ability is rooted in the understanding of semantic correspondence among objects,…

The vision of adaptive architecture proposes that robotic technologies could enable interior spaces to physically transform in a bidirectional interaction with occupants. Yet, it is still unknown how this interaction could unfold in an…

Placing is a necessary skill for a personal robot to have in order to perform tasks such as arranging objects in a disorganized room. The object placements should not only be stable but also be in their semantically preferred placing areas…