相关论文: Robi Butler: Multimodal Remote Interaction with a …
One way to allow elderly people to stay longer in their homes is to use of service robots to support them with everyday tasks. With this goal, we design, develop and evaluate a low-cost mobile robot to communicate with elderly people. The…
A brain-computer interface (BCI) is a system that allows a human operator to use only mental commands in controlling end effectors that interact with the world around them. Such a system consists of a measurement device to record the human…
In this paper, we investigate how to design an effective interface for remote multi-human multi-robot interaction. While significant research exists on interfaces for individual human operators, little research exists for the multi-human…
We present an embodied AI system which receives open-ended natural language instructions from a human, and controls two arms to collaboratively accomplish potentially long-horizon tasks over a large workspace. Our system is modular: it…
We propose an instructions-based approach for robot programming where the programmer interacts with the robot by issuing simple commands in a scripting language, like python. Internally, these commands make use of pre-programmed motion and…
The control of collective robotic systems, such as drone swarms, is often delegated to autonomous navigation algorithms due to their high dimensionality. However, like other robotic entities, drone swarms can still benefit from being…
Population ageing and pandemics recently demonstrate to cause isolation of elderly people in their houses, generating the need for a reliable assistive figure. Robotic assistants are the new frontier of innovation for domestic welfare, and…
Robotic guidance systems have shown promise in supporting blind and visually impaired (BVI) individuals with wayfinding and obstacle avoidance. However, most existing systems assume a clear path and do not support a critical aspect of…
In our daily lives, we can naturally convey instructions for the spatial manipulation of objects using words and gestures. Transposing this form of interaction into virtual reality (VR) object manipulation can be beneficial. We propose VR…
Long-term autonomy in service robotics is a current research topic, especially for dynamic, large-scale environments that change over time. We present Sobi, a mobile service robot developed as an interactive guide for open environments,…
Remote teleoperation of robots can broaden the reach of domain specialists across a wide range of industries such as home maintenance, health care, light manufacturing, and construction. However, current direct control methods are…
We propose a set of communicative gestures and develop a gesture recognition system with the aim of facilitating more intuitive Human-Robot Interaction (HRI) through gestures. First, we propose a set of commands commonly used for…
Physically assistive robots present an opportunity to significantly increase the well-being and independence of individuals with motor impairments or other forms of disability who are unable to complete activities of daily living. Speech…
We introduce Robix, a unified model that integrates robot reasoning, task planning, and natural language interaction within a single vision-language architecture. Acting as the high-level cognitive layer in a hierarchical robot system,…
Robot systems capable of executing tasks based on language instructions have been actively researched. It is challenging to convey uncertain information that can only be determined on-site with a single language instruction to the robot. In…
Safety is a fundamental requirement in any human-robot collaboration scenario. To ensure the safety of users for such scenarios, we propose a novel Virtual Barrier system facilitated by an augmented reality interface. Our system provides…
Human-robot collaboration has benefited users with higher efficiency towards interactive tasks. Nevertheless, most collaborative schemes rely on complicated human-machine interfaces, which might lack the requisite intuitiveness compared…
We propose a new approach for interaction in Virtual Reality (VR) using mobile robots as proxies for haptic feedback. This approach allows VR users to have the experience of sharing and manipulating tangible physical objects with remote…
We propose a novel approach to multi-robot collaboration that harnesses the power of pre-trained large language models (LLMs) for both high-level communication and low-level path planning. Robots are equipped with LLMs to discuss and…
Robots must operate safely when deployed in novel and human-centered environments, like homes. Current safe control approaches typically assume that the safety constraints are known a priori, and thus, the robot can pre-compute a…