相关论文: Towards Intuitive Human-Robot Interaction through …

Direct and natural interaction is essential for intuitive human-robot collaboration, eliminating the need for additional devices such as joysticks, tablets, or wearable sensors. In this paper, we present a lightweight deep learning-based…

Human-Robot Interaction (HRI) has become increasingly important as robots are being integrated into various aspects of daily life. One key aspect of HRI is gesture recognition, which allows robots to interpret and respond to human gestures…

Human skin provides a rich tactile sensing stream, localizing intentional and unintentional contact events over a large and contoured region. Replicating these tactile sensing capabilities for dexterous robotic manipulation systems remains…

Proactive human-robot interaction (HRI) allows the receptionist robots to actively greet people and offer services based on vision, which has been found to improve acceptability and customer satisfaction. Existing approaches are either…

UMI-style interfaces enable scalable robot learning, but existing systems remain largely visuomotor, relying primarily on RGB observations and trajectory while providing only limited access to physical interaction signals. This becomes a…

In this work, we present preliminary work on a novel method for Human-Swarm Interaction (HSI) that can be used to change the macroscopic behavior of a swarm of robots with decentralized sensing and control. By integrating a small yet…

Physical interaction between humans and robots can help robots learn to perform complex tasks. The robot arm gains information by observing how the human kinesthetically guides it throughout the task. While prior works focus on how the…

Communication in both human-human and human-robot interac-tion (HRI) contexts consists of verbal (speech-based) and non-verbal(facial expressions, eye gaze, gesture, body pose, etc.) components.The verbal component contains semantic and…

Communication between people is characterized by a broad range of nonverbal cues. Transferring these cues into the design of robots and other artificial agents that interact with people may foster more natural, inviting, and accessible…

Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided policy from teleoperated demonstration data. However, to…

Human demonstrations collected by wearable devices (e.g., tactile gloves) provide fast and dexterous supervision for policy learning, and are guided by rich, natural tactile feedback. However, a key challenge is how to transfer…

Robot capabilities are maturing across domains, from self-driving cars, to bipeds and drones. As a result, robots will soon no longer be confined to safety-controlled industrial settings; instead, they will directly interact with the…

Rich contact perception is crucial for robotic manipulation, yet traditional tactile skins remain expensive and complex to integrate. This paper presents a scalable alternative: high-accuracy whole-body touch localization via vibro-acoustic…

In human-robot interaction (HRI), detecting a human's gaze helps robots interpret user attention and intent. However, most gaze detection approaches rely on specialized eye-tracking hardware, limiting deployment in everyday settings.…

Interpreting human intent accurately is a central challenge in human-robot interaction (HRI) and a key requirement for achieving more natural and intuitive collaboration between humans and machines. This work presents a novel multimodal HRI…

Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…

Whole-arm tactile sensing enables a robot to sense contact and infer contact properties across its entire arm. Within this paper, we demonstrate that using data-driven methods, a humanoid robot can infer mechanical properties of objects…

Successful adoption of industrial robots will strongly depend on their ability to safely and efficiently operate in human environments, engage in natural communication, understand their users, and express intentions intuitively while…

Human-robot interaction (HRI) has become a crucial enabler in houses and industries for facilitating operational flexibility. When it comes to mobile collaborative robots, this flexibility can be further increased due to the autonomous…

Tactile sensing is a widely-studied means of implicit communication between robot and human. In this paper, we investigate how tactile sensing can help bridge differences between robotic embodiments in the context of collaborative…