相关论文: Cognitive Approach to Hierarchical Task Selection …

Human collaborators coordinate effectively their actions through both verbal and non-verbal communication. We believe that the the same should hold for human-robot teams. We propose a formalism that enables a robot to decide optimally…

We discuss the process of building semantic maps, how to interactively label entities in them, and how to use them to enable context-aware navigation behaviors in human environments. We utilize planar surfaces, such as walls and tables, and…

Effective communication is essential in collaborative tasks, so AI-equipped robots working alongside humans need to be able to explain their behaviour in order to cooperate effectively and earn trust. We analyse and classify communications…

Providing explanations is considered an imperative ability for an AI agent in a human-robot teaming framework. The right explanation provides the rationale behind an AI agent's decision-making. However, to maintain the human teammate's…

As humans, we have a remarkable capacity for reading the characteristics of objects only by observing how another person carries them. Indeed, how we perform our actions naturally embeds information on the item features. Collaborative…

In social robotics, robots needs to be able to be understood by humans. Especially in collaborative tasks where they have to share mutual knowledge. For instance, in an educative scenario, learners share their knowledge and they must adapt…

The ability to recognize human partners is an important social skill to build personalized and long-term human-robot interactions, especially in scenarios like education, care-giving, and rehabilitation. Faces and voices constitute two…

This paper presents the behaviour control of a service robot for intelligent object search in a domestic environment. A major challenge in service robotics is to enable fetch-and-carry missions that are satisfying for the user in terms of…

A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…

Existing object-search approaches enable robots to search through free pathways, however, robots operating in unstructured human-centered environments frequently also have to manipulate the environment to their needs. In this work, we…

During human-robot interaction (HRI), we want the robot to understand us, and we want to intuitively understand the robot. In order to communicate with and understand the robot, we can leverage interactions, where the human and robot…

In this work, we propose a novel shared autonomy framework to operate articulated robots. We provide strategies to design both the task-oriented hierarchical planning and policy shaping algorithms for efficient human-robot interactions in…

We propose a method to systematically represent both the static and the dynamic components of environments, i.e. objects and agents, as well as the changes that are happening in the environment, i.e. the actions and skills performed by…

Ensuring human safety in collaborative robotics can compromise efficiency because traditional safety measures increase robot cycle time when human interaction is frequent. This paper proposes a safety-aware approach to mitigate efficiency…

In order for robots and other artificial agents to efficiently learn to perform useful tasks defined by an end user, they must understand not only the goals of those tasks, but also the structure and dynamics of that user's environment.…

Applying Deep Reinforcement Learning (DRL) to Human-Robot Cooperation (HRC) in dynamic control problems is promising yet challenging as the robot needs to learn the dynamics of the controlled system and dynamics of the human partner. In…

In complex manipulation scenarios (e.g. tasks requiring complex interaction of two hands or in-hand manipulation), generalization is a hard problem. Current methods still either require a substantial amount of (supervised) training data and…

In this paper, we present a planning system based on semantic reasoning for a general-purpose service robot, which is aimed at behaving more intelligently in domains that contain incomplete information, under-specified goals, and dynamic…

Object manipulation is a natural activity we perform every day. How humans handle objects can communicate not only the willfulness of the acting, or key aspects of the context where we operate, but also the properties of the objects…

The field of Human-Robot Collaboration (HRC) has seen a considerable amount of progress in recent years. Thanks in part to advances in control and perception algorithms, robots have started to work in increasingly unstructured environments,…