相关论文: DECAF: a Discrete-Event based Collaborative Human-…

This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize…

Coordinating robotic swarms in dynamic and communication-constrained environments remains a fundamental challenge for collective intelligence. This paper presents a novel framework for event-triggered organization, designed to achieve…

The anticipation of human behavior is a crucial capability for robots to interact with humans safely and efficiently. We employ a smart edge sensor network to provide global observations, future predictions, and goal information to…

In this work, we aim to learn dexterous manipulation of deformable objects using multi-fingered hands. Reinforcement learning approaches for dexterous rigid object manipulation would struggle in this setting due to the complexity of physics…

The development of human-robot collaboration has the ability to improve manufacturing system performance by leveraging the unique strengths of both humans and robots. On the shop floor, human operators contribute with their adaptability and…

We propose a method, based on empirical game theory, for a robot operating as part of a team to choose its role within the team without explicitly communicating with team members, by leveraging its knowledge about the team structure. To do…

Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…

Real-world autonomous systems often employ probabilistic predictive models of human behavior during planning to reason about their future motion. Since accurately modeling human behavior a priori is challenging, such models are often…

Markov Decision Processes (MDPs) are the most common model for decision making under uncertainty in the Machine Learning community. An MDP captures non-determinism, probabilistic uncertainty, and an explicit model of action. A Reinforcement…

This work addresses the challenge of a robot using real-time feedback from contact sensors to reliably manipulate a movable object on a cluttered tabletop. We formulate contact manipulation as a partially observable Markov decision process…

There has been a growing utilization of industrial robots as complementary collaborators for human workers in re-manufacturing sites. Such a human-robot collaboration (HRC) aims to assist human workers in improving the flexibility and…

Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…

In the industrial interior design process, professional designers plan the size and position of furniture in a room to achieve a satisfactory design for selling. In this paper, we explore the interior scene design task as a Markov decision…

We study the design of autonomous agents that are capable of deceiving outside observers about their intentions while carrying out tasks in stochastic, complex environments. By modeling the agent's behavior as a Markov decision process, we…

Deception is a common strategy adapted by autonomous systems in adversarial settings. Existing deception methods primarily focus on increasing opacity or misdirecting agents away from their goal or itinerary. In this work, we propose a…

To enable safe and effective human-robot collaboration (HRC) in smart manufacturing, seamless integration of sensing, cognition, and prediction into the robot controller is critical for real-time awareness, response, and communication…

Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a…

In industrial environments, predicting human actions is essential for ensuring safe and effective collaboration between humans and robots. This paper introduces a perception framework that enables mobile robots to understand and share…

A key challenge towards the goal of multi-part assembly tasks is finding robust sensorimotor control methods in the presence of uncertainty. In contrast to previous works that rely on a priori knowledge on whether two parts match, we aim to…

In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm…