相关论文: Using Fitts' Law to Benchmark Assisted Human-Robot…

In robot-assisted therapy for individuals with Autism Spectrum Disorder, the workload of therapists during a therapeutic session is increased if they have to control the robot manually. To allow therapists to focus on the interaction with…

Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…

The thesis presents contributions made to the evaluation and design of a haptic guidance system on improving driving performance in cases of normal and degraded visual information, which are based on behavior experiments, modeling and…

Shared control allows the human driver to collaborate with an assistive driving system while retaining the ability to make decisions and take control if necessary. However, human-vehicle teaming and planning are challenging due to…

Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…

Task allocation plays a vital role in multi-robot autonomous cleaning systems, where multiple robots work together to clean a large area. However, most current studies mainly focus on deterministic, single-task allocation for cleaning…

Haptic shared control is used to manage the control authority allocation between a human and an autonomous agent in semi-autonomous driving. Existing haptic shared control schemes, however, do not take full consideration of the human agent.…

Human-robot teams will soon be expected to accomplish complex tasks in high-risk and uncertain environments. Here, the human may not necessarily be a robotics expert, but will need to establish a baseline understanding of the robot's…

Trust in robots has been gathering attention from multiple directions, as it has special relevance in the theoretical descriptions of human-robot interactions. It is essential for reaching high acceptance and usage rates of robotic…

Advanced driver assistance systems have successfully reduced drivers' workloads and increased safety. On the other hand, the excessive use of such systems can impede the development of driving skills. However, there exist collaborative…

How should a robot that collaborates with multiple people decide upon the distribution of resources (e.g. social attention, or parts needed for an assembly)? People are uniquely attuned to how resources are distributed. A decision to…

Successful human-robot teaming will require robots to adapt autonomously to a human teammate's internal state, where a critical element of such adaptation is the ability to estimate the human's workload in unknown situations. Existing…

The proliferation of connected automated vehicles represents an unprecedented opportunity for improving driving efficiency and alleviating traffic congestion. However, existing research fails to address realistic multi-lane highway…

Through many recent successes in simulation, model-free reinforcement learning has emerged as a promising approach to solving continuous control robotic tasks. The research community is now able to reproduce, analyze and build quickly on…

We propose a new formulation for the multi-robot task planning and allocation problem that incorporates (a) precedence relationships between tasks; (b) coordination for tasks allowing multiple robots to achieve increased efficiency; and (c)…

Benchmarking has long served as a foundational practice in machine learning and, increasingly, in modern AI systems such as large language models, where shared tasks, metrics, and leaderboards offer a common basis for measuring progress and…

Detecting other agents and forecasting their behavior is an integral part of the modern robotic autonomy stack, especially in safety-critical scenarios entailing human-robot interaction such as autonomous driving. Due to the importance of…

Assistive shared-control robots have the potential to transform the lives of millions of people afflicted with severe motor impairments. The usefulness of shared-control robots typically relies on the underlying autonomy's ability to infer…

With continual advancements in technology, efforts to develop robots simulating human behavior have intensified. Cognitive robotics, combined with artificial intelligence (AI), has proven effective in surveying and research analysis.…

This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…