相关论文: Modeling Personalized Difficulty of Rehabilitation…
This paper is concerned with the approximation of high-dimensional functions in a statistical learning setting, by empirical risk minimization over model classes of functions in tree-based tensor format. These are particular classes of…
Mountain slopes are perfect examples of harsh environments in which humans are required to perform difficult and dangerous operations such as removing unstable boulders, dangerous vegetation or deploying safety nets. A good replacement for…
Rescue missions in mountain environments are hardly achievable by standard legged robots-because of the high slopes-or by flying robots-because of limited payload capacity. We present a concept for a rope-aided climbing robot which can…
Wearable exoskeletons can augment human strength and reduce muscle fatigue during specific tasks. However, developing personalized and task-generalizable assistance algorithms remains a critical challenge. To address this, a meta-imitation…
With robots becoming increasingly prevalent in various domains, it has become crucial to equip them with tools to achieve greater fluency in interactions with humans. One of the promising areas for further exploration lies in human trust. A…
Stroke patients with upper limb motor impairments are re-acclimated to their corresponding motor functionalities through therapeutic interventions. Physiotherapists typically assess these functionalities using various qualitative protocols.…
As reinforcement learning for humanoid robots evolves from single-task to multi-skill paradigms, efficiently expanding new skills while avoiding catastrophic forgetting has become a key challenge in embodied intelligence. Existing…
A major component for developing intelligent and autonomous robots is a suitable knowledge representation, from which a robot can acquire knowledge about its actions or world. However, unlike humans, robots cannot creatively adapt to novel…
This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job…
Behavior Trees are a task switching policy representation that can grant reactiveness and fault tolerance. Moreover, because of their structure and modularity, a variety of methods can be used to generate them automatically. In this short…
In human-robot cooperation, the robot cooperates with humans to accomplish the task together. Existing approaches assume the human has a specific goal during the cooperation, and the robot infers and acts toward it. However, in real-world…
Mobile ground robots operating on unstructured terrain must predict which areas of the environment they are able to pass in order to plan feasible paths. We address traversability estimation as a heightmap classification problem: we build a…
Parkour is a grand challenge for legged locomotion that requires robots to overcome various obstacles rapidly in complex environments. Existing methods can generate either diverse but blind locomotion skills or vision-based but specialized…
When robots enter everyday human environments, they need to understand their tasks and how they should perform those tasks. To encode these, reward functions, which specify the objective of a robot, are employed. However, designing reward…
Our research aims to develop interactive, social agents that can coach people to learn new tasks, skills, and habits. In this paper, we focus on coaching sedentary, overweight individuals (i.e., trainees) to exercise regularly. We employ…
As the global population ages, many seniors face the problem of loneliness. Companion robots offer a potential solution. However, current companion robots often lack advanced functionality, while task-oriented robots are not designed for…
In this paper, we examine the problem of push recovery for bipedal robot locomotion and present a reactive decision-making and robust planning framework for locomotion resilient to external perturbations. Rejecting perturbations is an…
Mobile manipulator platforms, like the Stretch RE1 robot, make the promise of in-home robotic assistance feasible. For people with severe physical limitations, like those with quadriplegia, the ability to tele-operate these robots…
With the increasing presence of robots in our every-day environments, improving their social skills is of utmost importance. Nonetheless, social robotics still faces many challenges. One bottleneck is that robotic behaviors need to be often…
Children with Autism Spectrum Disorder find robots easier to communicate with than humans. Thus, robots have been introduced in autism therapies. However, due to the environmental complexity, the used robots often have to be controlled…