相关论文: SPARK: Safe Protective and Assistive Robot Kit
Nowadays, robots are increasingly operated in environments shared with humans, where conflicts between human and robot behaviors may compromise safety. This paper presents a proactive behavioral conflict avoidance framework based on the…
As robots increasingly operate in shared, safety critical environments, acting safely is no longer sufficient robots must also make their safety decisions intelligible to human collaborators. In human robot collaboration (HRC), behaviours…
Socially assistive robotics (SAR) research has shown great potential for supplementing and augmenting therapy for children with autism spectrum disorders (ASD). However, the vast majority of SAR research has been limited to short-term…
We present a novel framework for estimating accident-prone regions in everyday indoor scenes, aimed at improving real-time risk awareness in service robots operating in human-centric environments. As robots become integrated into daily…
Safe and trustworthy Human Robot Interaction (HRI) requires robots not only to complete tasks but also to regulate impedance and speed according to scene context and human proximity. We present SafeHumanoid, an egocentric vision pipeline…
Robust robot manipulation in unstructured environments often requires understanding object properties that extend beyond geometry, such as material or compliance-properties that can be challenging to infer using vision alone. Multimodal…
Ensuring robot safety can be challenging; user-defined constraints can miss edge cases, policies can become unsafe even when trained from safe data, and safety can be subjective. Thus, we learn about robot safety by showing policy…
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…
Embodied AI systems, including AI-powered robots that autonomously interact with the physical world, stand to be significantly advanced by Large Language Models (LLMs), which enable robots to better understand complex language commands and…
In this paper, we consider the problem of designing collision-free, dynamically feasible, and socially-aware trajectories for robots operating in environments populated by humans. We define trajectories to be social-aware if they do not…
The deployment of Large Language Models (LLMs) in robotic systems presents unique safety challenges, particularly in unpredictable environments. Although LLMs, leveraging zero-shot learning, enhance human-robot interaction and…
A key challenge to ensuring the rapid transition of robotic systems from the industrial sector to more ubiquitous applications is the development of algorithms that can guarantee safe operation while in close proximity to humans. Motion…
SPARKX is an open-source Python package developed to analyze simulation data from heavy-ion collision experiments. By offering a comprehensive suite of tools, SPARKX simplifies data analysis workflows, supports multiple formats such as…
In the context of Human-Robot Collaboration (HRC), it is crucial that the two actors are able to communicate with each other in a natural and efficient manner. The absence of a communication interface is often a cause of undesired…
Guaranteeing safe behavior on complex autonomous systems -- from cars to walking robots -- is challenging due to the inherently high dimensional nature of these systems and the corresponding complex models that may be difficult to determine…
What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in corresponding HRC standards (e.g., ISO/TS 15066). The regime that allows collisions between the moving robot and the operator,…
Intelligent escape is an interdisciplinary field that employs artificial intelligence (AI) techniques to enable robots with the capacity to intelligently react to potential dangers in dynamic, intricate, and unpredictable scenarios. As the…
Most of the quadrupeds developed are highly actuated, and their control is hence quite cumbersome. They need advanced electronics equipment to solve convoluted inverse kinematic equations continuously. In addition, they demand special and…
Contact-rich tasks pose significant challenges for robotic systems due to inherent uncertainty, complex dynamics, and the high risk of damage during interaction. Recent advances in learning-based control have shown great potential in…
SMART is an open source web application designed to help data scientists and research teams efficiently build labeled training data sets for supervised machine learning tasks. SMART provides users with an intuitive interface for creating…