相关论文: FurNav: Development and Preliminary Study of a Rob…
Social robot navigation is an evolving research field that aims to find efficient strategies to safely navigate dynamic environments populated by humans. A critical challenge in this domain is the accurate modeling of human motion, which…
When navigating in a man-made environment they haven't visited before--like an office building--humans employ behaviors such as reading signs and asking others for directions. These behaviors help humans reach their destinations efficiently…
Many of us researchers take extra measures to control for known-unknowns. However, unknown-unknowns can, at best, be negligible, but otherwise, they could produce unreliable data that might have dire consequences in real-life downstream…
For the most comfortable, human-aware robot navigation, subjective user preferences need to be taken into account. This paper presents a novel reinforcement learning framework to train a personalized navigation controller along with an…
This paper explores the principles for transforming a quadrupedal robot into a guide robot for individuals with visual impairments. A guide robot has great potential to resolve the limited availability of guide animals that are accessible…
Robot motions in the presence of humans should not only be feasible and safe, but also conform to human preferences. This, however, requires user feedback on the robot's behavior. In this work, we propose a novel approach to leverage the…
We present a unified framework which supports grounding natural-language semantics in robotic driving. This framework supports acquisition (learning grounded meanings of nouns and prepositions from human annotation of robotic driving…
Navigating robots discreetly in human work environments while considering the possible privacy implications of robotic tasks presents significant challenges. Such scenarios are increasingly common, for instance, when robots transport…
The gaze of a person tends to reflect their interest. This work explores what happens when this statement is taken literally and applied to robots. Here we present a robot system that employs a moving robot head with a screen-based eye…
Mobile robots are increasingly being deployed in public spaces such as shopping malls, airports, and urban sidewalks. Most of these robots are designed with human-aware motion planning capabilities but are not designed to communicate with…
Voice-based communication is often cited as one of the most `natural' ways in which humans and robots might interact, and the recent availability of accurate automatic speech recognition and intelligible speech synthesis has enabled…
Assistive robot arms can help humans by partially automating their desired tasks. Consider an adult with motor impairments controlling an assistive robot arm to eat dinner. The robot can reduce the number of human inputs -- and how precise…
This paper identifies stylistic differences in instruction-giving observed in a corpus of human-robot dialogue. Differences in verbosity and structure (i.e., single-intent vs. multi-intent instructions) arose naturally without restrictions…
Assistive robots have the potential to help people perform everyday tasks. However, these robots first need to learn what it is their user wants them to do. Teaching assistive robots is hard for inexperienced users, elderly users, and users…
Mobile robots exploring indoor environments increasingly rely on vision-language models to perceive high-level semantic cues in camera images, such as object categories. Such models offer the potential to substantially advance robot…
Increasingly complex and autonomous robots are being deployed in real-world environments with far-reaching consequences. High-stakes scenarios, such as emergency response or offshore energy platform and nuclear inspections, require robot…
There are many different ways a robot can move in Human-Robot Interaction. One way is to use techniques from film animation to instruct the robot to move. This article is a systematic literature review of human-robot trials, pilots, and…
Robot navigation traditionally relies on building an explicit map that is used to plan collision-free trajectories to a desired target. In deformable, complex terrain, using geometric-based approaches can fail to find a path due to…
Assistive robotics is an important subarea of robotics that focuses on the well-being of people with disabilities. A robotic guide dog is an assistive quadruped robot that helps visually impaired people in obstacle avoidance and navigation.…
In recent years, a number of models that learn the relations between vision and language from large datasets have been released. These models perform a variety of tasks, such as answering questions about images, retrieving sentences that…