相关论文: Gesture-Informed Robot Assistance via Foundation M…

Dexterous intelligence -- the ability to perform complex interactions with multi-fingered hands -- is a pinnacle of human physical intelligence and emergent higher-order cognitive skills. However, contrary to Moravec's paradox, dexterous…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

Conversational assistive robots can aid people, especially those with cognitive impairments, to accomplish various tasks such as cooking meals, performing exercises, or operating machines. However, to interact with people effectively,…

There is an increasing interest in social robots assisting older adults during daily life tasks. In this context, non-verbal cues such as deictic gaze are important in natural communication in human-robot interaction. However, the…

A pivotal challenge in robotics is achieving fast, safe, and robust dexterous grasping across a diverse range of objects, an important goal within industrial applications. However, existing methods often have very limited speed, dexterity,…

In collaborative human-robot manipulation, a robot must predict human intents and adapt its actions accordingly to smoothly execute tasks. However, the human's intent in turn depends on actions the robot takes, creating a chicken-or-egg…

Collaborative robotics requires effective communication between a robot and a human partner. This work proposes a set of interpretive principles for how a robotic arm can use pointing actions to communicate task information to people by…

Body posture influences human and robots performance in manipulation tasks, as appropriate poses facilitate motion or force exertion along different axes. In robotics, manipulability ellipsoids arise as a powerful descriptor to analyze,…

This article investigates the challenge of achieving functional tool-use grasping with high-DoF anthropomorphic hands, with the aim of enabling anthropomorphic hands to perform tasks that require human-like manipulation and tool-use.…

The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity…

This paper presents a real-time programming and parameter reconfiguration method for autonomous underwater robots in human-robot collaborative tasks. Using a set of intuitive and meaningful hand gestures, we develop a syntactically simple…

The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…

Robotic grasping is one of the most fundamental tasks in robotic manipulation, and grasp detection/generation has long been the subject of extensive research. Recently, language-driven grasp generation has emerged as a promising direction…

Pointing gestures are a common interaction method used in Human-Robot Collaboration for various tasks, ranging from selecting targets to guiding industrial processes. This study introduces a method for localizing pointed targets within a…

Static and dynamic hand movements are basic way for human-machine interactions. To recognize and classify these movements, first these movements are captured by the cameras mounted on the augmented reality (AR) or virtual reality (VR)…

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…

Recent research efforts have yielded significant advancements in manipulating objects under homogeneous settings where the robot is required to either manipulate rigid or deformable (soft) objects. However, the manipulation under…

Generalizable manipulation involving cross-type object interactions is a critical yet challenging capability in robotics. To reliably accomplish such tasks, robots must address two fundamental challenges: "where to manipulate" (contact…

General-purpose robotic manipulation, including reach and grasp, is essential for deployment into households and workspaces involving diverse and evolving tasks. Recent advances propose using large pre-trained models, such as Large Language…

This paper presents a framework that leverages pre-trained foundation models for robotic manipulation without domain-specific training. The framework integrates off-the-shelf models, combining multimodal perception from foundation models…