相关论文: Goal-Oriented End-User Programming of Robots
We consider the human-aware task planning problem where a human-robot team is given a shared task with a known objective to achieve. Recent approaches tackle it by modeling it as a team of independent, rational agents, where the robot plans…
A robot as a coworker or a cohabitant is becoming mainstream day-by-day with the development of low-cost sophisticated hardware. However, an accompanying software stack that can aid the usability of the robotic hardware remains the…
Progress in Embodied AI has made it possible for end-to-end-trained agents to navigate in photo-realistic environments with high-level reasoning and zero-shot or language-conditioned behavior, but benchmarks are still dominated by…
A typical application of upper-limb exoskeleton robots is deployment in rehabilitation training, helping patients to regain manipulative abilities. However, as the patient is not always capable of following the robot, safety issues may…
The rapid advancement of artificial intelligence is enabling the development of increasingly autonomous robots capable of operating beyond engineered factory settings and into the unstructured environments of human life. This shift raises a…
AI-supported tools can help learners overcome challenges in programming education by providing adaptive assistance. However, existing research often focuses on individual tools rather than deriving broader design recommendations. A key…
With an increasing interest in human-robot collaboration, there is a need to develop robot behavior while keeping the human user's preferences in mind. Highly skilled human users doing delicate tasks require their robot partners to behave…
Many current robot designs prioritize efficiency and one-size-fits-all solutions, oftentimes overlooking personalization, adaptability, and sustainability. To explore alternatives, we conducted two co-design workshops with 23 participants,…
Online policy learning directly in the physical world is a promising yet challenging direction for embodied intelligence. Unlike simulation, real-world systems cannot be arbitrarily accelerated, cheaply reset, or massively replicated, which…
End-user development allows everyday users to tailor service robots or applications to their needs. One user-friendly approach is natural language programming. However, it encounters challenges such as an expansive user expression space and…
A key challenge in complex visuomotor control is learning abstract representations that are effective for specifying goals, planning, and generalization. To this end, we introduce universal planning networks (UPN). UPNs embed differentiable…
The performance of prediction-based assistance for robot teleoperation degrades in unseen or goal-rich environments due to incorrect or quickly-changing intent inferences. Poor predictions can confuse operators or cause them to change their…
Model-based planning and execution systems offer a principled approach to building flexible autonomous robots that can perform diverse tasks by automatically combining a host of basic skills. This idea is almost as old as modern robotics.…
Building perceptual systems for robotics which perform well under tight computational budgets requires novel architectures which rethink the traditional computer vision pipeline. Modern vision architectures require the agent to build a…
Recent advancements in robotics, including applications like self-driving cars, unmanned systems, and medical robots, have had a significant impact on the job market. On one hand, big robotics companies offer training programs based on the…
Purpose - The purpose of this paper is to present a CAD-based human-robot interface that allows non-expert users to teach a robot in a manner similar to that used by human beings to teach each other. Design/methodology/approach - Intuitive…
The current dominant paradigm for robotic manipulation involves two separate stages: manipulator design and control. Because the robot's morphology and how it can be controlled are intimately linked, joint optimization of design and control…
Prototyping is an important part in research and development of tangible user interfaces (TUIs). On the way from the idea to a working prototype, new hardware prototypes usually have to be crafted repeatedly in numerous iterations. This…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…
Training visual control policies from scratch on a new robot typically requires generating large amounts of robot-specific data. How might we leverage data previously collected on another robot to reduce or even completely remove this need…