相关论文: Semantic-based Loco-Manipulation for Human-Robot C…

Increased robot deployment, such as in warehousing, has revealed a need for seamless collaboration among heterogeneous robot teams to resolve unforeseen conflicts. To address this challenge, we propose a novel, decentralized framework for…

Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…

Robots can provide assistance to a human by moving objects to locations around the person's body. With a well chosen initial configuration, a robot can better reach locations important to an assistive task despite model error, pose…

The term robot generally refers to a machine that looks and works in a way similar to a human. The modern industry is rapidly shifting from manual control of systems to automation, in order to increase productivity and to deliver quality…

Intelligent mobile robots are critical in several scenarios. However, as their computational resources are limited, mobile robots struggle to handle several tasks concurrently and yet guaranteeing real-timeliness. To address this challenge…

Worker-Robot Cooperation is a new industrial trend, which aims to sum the advantages of both the human and the industrial robot to afford a new intelligent manufacturing techniques. The cooperative manufacturing between the worker and the…

Human-robot collaboration (HRC) in a shared workspace has become a common pattern in real-world robot applications and has garnered significant research interest. However, most existing studies for human-in-the-loop (HITL) collaboration…

The integration of large language models (LLMs) with robotics has significantly advanced robots' abilities in perception, cognition, and task planning. The use of natural language interfaces offers a unified approach for expressing the…

Recent works use a neuro-symbolic framework for general manipulation policies. The advantage of this framework is that -- by applying off-the-shelf vision and language models -- the robot can break complex tasks down into semantic subtasks.…

As robotic technology advances, the barriers to the coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, collaborative manipulation, etc., are considered the need of…

Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…

The use of robots in industrial settings continues to grow, driven by the need to address complex societal challenges such as labor shortages, aging populations, and ever-increasing production demands. In this abstract, we advocate for (and…

We present a novel framework for human-robot \emph{logical} interaction that enables robots to reliably satisfy (infinite horizon) temporal logic tasks while effectively collaborating with humans who pursue independent and unknown tasks.…

Humanoid robots with behavioral autonomy have consistently been regarded as ideal collaborators in our daily lives and promising representations of embodied intelligence. Compared to fixed-based robotic arms, humanoid robots offer a larger…

When the human-robot interactions become ubiquitous, the environment surrounding these interactions will have significant impact on the safety and comfort of the human and the effectiveness and efficiency of the robot. Although most robots…

The success of smart environments largely depends on their smartness of understanding the environments' ongoing situations. Accordingly, this task is an essence to smart environment central processors. Obtaining knowledge from the…

Designing robots capable of generating interpretable behavior is a prerequisite for achieving effective human-robot collaboration. This means that the robots need to be capable of generating behavior that aligns with human expectations and,…

This paper studies real-time collaborative robot (cobot) handling, where the cobot maneuvers an object under human dynamic gesture commands. Enabling dynamic gesture commands is useful when the human needs to avoid direct contact with the…

In human-robot cooperation, the robot cooperates with humans to accomplish the task together. Existing approaches assume the human has a specific goal during the cooperation, and the robot infers and acts toward it. However, in real-world…

We present a novel framework for estimating accident-prone regions in everyday indoor scenes, aimed at improving real-time risk awareness in service robots operating in human-centric environments. As robots become integrated into daily…