相关论文: HuBE: Cross-Embodiment Human-like Behavior Executi…
In this paper we address the problem of robot movement adaptation under various environmental constraints interactively. Motion primitives are generally adopted to generate target motion from demonstrations. However, their generalization…
This paper presents a framework to enable a team of heterogeneous mobile robots to model and sense a multiscale system. We propose a coupled strategy, where robots of one type collect high-fidelity measurements at a slow time scale and…
One of the challenges for the robotics community is to deploy robots which can reliably operate in real world scenarios together with humans. A crucial requirement for legged robots is the capability to properly balance on their feet,…
When a human and a humanoid robot collaborate physically, ergonomics is a key factor to consider. Assuming a given humanoid robot, several control architectures exist nowadays to address ergonomic physical human-robot collaboration. This…
Embodied agents capable of complex physical skills can improve productivity, elevate life quality, and reshape human-machine collaboration. We aim at autonomous training of embodied agents for various tasks involving mainly large foundation…
Existing AI systems for modeling human behavior operate at the level of individuals or detect events after they occur. As a result, they systematically fail to capture the collective dynamics that determine whether a group remains stable or…
Long-term Human-Robot Collaboration (HRC) is crucial for enabling flexible manufacturing systems and integrating companion robots into daily human environments over extended periods. This paper identifies several key challenges for such…
We study the problem of cross-embodiment inverse reinforcement learning, where we wish to learn a reward function from video demonstrations in one or more embodiments and then transfer the learned reward to a different embodiment (e.g.,…
Classically, the development of humanoid robots has been sequential and iterative. Such bottom-up design procedures rely heavily on intuition and are often biased by the designer's experience. Exploiting the non-linear coupled design space…
In this work, we aim to enable legged robots to learn how to interpret human social cues and produce appropriate behaviors through physical human guidance. However, learning through physical engagement can place a heavy burden on users when…
Equipping humanoid robots with the capability to understand emotional states of human interactants and express emotions appropriately according to situations is essential for affective human-robot interaction. However, enabling current…
Human demonstrations offer rich environmental diversity and scale naturally, making them an appealing alternative to robot teleoperation. While this paradigm has advanced robot-arm manipulation, its potential for the more challenging,…
Human egocentric video captures rich manipulation demonstrations without any robot hardware, yet transferring these skills to robots remains challenging due to the embodiment gap between human and robot in both visual appearance and…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Embodied reasoning systems integrate robotic hardware and cognitive processes to perform complex tasks, typically in response to a natural language query about a specific physical environment. This usually involves changing the belief about…
Grounding open-ended semantic instructions into physically executable local goals is a fundamental challenge in human-robot interaction. While existing navigation frameworks often regress deterministic waypoints, this rigid formulation…
Similarly to humans, humanoid robots require posture control and balance to walk and interact with the environment. In this work posture control in perturbed conditions is evaluated as a performance test for humanoid control. A specific…
We tackle the problem of perceptive locomotion in dynamic environments. In this problem, a quadrupedal robot must exhibit robust and agile walking behaviors in response to environmental clutter and moving obstacles. We present a…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
The paper presents a planner to generate walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot. The interaction between the robot and the walking surface is modeled explicitly via new conditions,…