相关论文: Human-Robot Collaborative Minimum Time Search thro…
Obstacle avoidance is one of the essential and indispensable functions for autonomous mobile robots. Most of the existing solutions are typically based on single condition constraint and cannot incorporate sensor data in a real-time manner,…
Software design is crucial to successful software development, yet is a demanding multi-objective problem for software engineers. In an attempt to assist the software designer, interactive (i.e. human in-the-loop) meta-heuristic search…
Many robotic tasks, such as inverse kinematics, motion planning, and optimal control, can be formulated as optimization problems. Solving these problems involves addressing nonlinear kinematics, complex contact dynamics, long-horizon…
A robot needs multiple interaction modes to robustly collaborate with a human in complicated industrial tasks. We develop a Coexistence-and-Cooperation (CoCo) human-robot collaboration system. Coexistence mode enables the robot to work with…
Robotic fleets can be extremely efficient when working concurrently and collaboratively, e.g., for delivery, surveillance, search and rescue. However, it can be demanding or even impractical for an operator to directly control each robot.…
In large unknown environments, search operations can be much more time-efficient with the use of multi-robot fleets by parallelizing efforts. This means robots must efficiently perform collaborative mapping (exploration) while…
Producing robust task plans in human-robot collaborative missions is a critical activity in order to increase the likelihood of these missions completing successfully. Despite the broad research body in the area, which considers different…
Hyper-parameter optimization is one of the most tedious yet crucial steps in training machine learning models. There are numerous methods for this vital model-building stage, ranging from domain-specific manual tuning guidelines suggested…
Trajectory optimization problems for legged robots are commonly formulated with fixed contact schedules. These multi-phase Hybrid Trajectory Optimization (HTO) methods result in locally optimal trajectories, but the result depends heavily…
Effective human-robot collaboration requires robot to adopt their roles and levels of support based on human needs, task requirements, and complexity. Traditional human-robot teaming often relies on a pre-determined robot communication…
Transporting large and heavy objects can benefit from Human-Robot Collaboration (HRC), increasing the contribution of robots to our daily tasks and reducing the risk of injuries to the human operator. This approach usually posits the human…
Recent progress in robotics and embodied AI is largely driven by Large Multimodal Models (LMMs). However, a key challenge remains underexplored: how can we advance LMMs to discover tasks that assist humans in open-future scenarios, where…
Human-robot collaboration (HRC) is an emerging trend of robotics that promotes the co-presence and cooperation of humans and robots in common workspaces. Physical vicinity and interaction between humans and robots, combined with the…
We focus on the problem of how we can enable a robot to collaborate seamlessly with a human partner, specifically in scenarios where preexisting data is sparse. Much prior work in human-robot collaboration uses observational models of…
To engender safe and efficient human-robot collaboration, it is critical to generate high-fidelity predictions of human behavior. The challenges in making accurate predictions lie in the stochasticity and heterogeneity in human behaviors.…
Collaboration requires coordination, and we coordinate by anticipating our teammates' future actions and adapting to their plan. In some cases, our teammates' actions early on can give us a clear idea of what the remainder of their plan is,…
The hydrophobic-polar (HP) model has been widely studied in the field of protein structure prediction (PSP) both for theoretical purposes and as a benchmark for new optimization strategies. In this work we introduce a new heuristics based…
Heterogeneous multi-robot systems feature significant adaptability for complex environments. However, effective collaboration that fully exploits the robots' potential remains a core challenge. This paper proposes a decentralized…
The growing interest in human-robot collaboration (HRC), where humans and robots cooperate towards shared goals, has seen significant advancements over the past decade. While previous research has addressed various challenges, several key…
Initial knowledge regarding group size can be crucial for collective performance. We study this relation in the context of the {\em Ants Nearby Treasure Search (ANTS)} problem \cite{FKLS}, which models natural cooperative foraging behavior…