research
∙
10/24/2022
Planning Coordinated Human-Robot Motions with Neural Network Full-Body Prediction Models
Numerical optimization has become a popular approach to plan smooth moti...
share
research
∙
08/24/2021
Learning to Arbitrate Human and Robot Control using Disagreement between Sub-Policies
In the context of teleoperation, arbitration refers to deciding how to b...
research
∙
07/05/2021
GraspME – Grasp Manifold Estimator
In this paper, we introduce a Grasp Manifold Estimator (GraspME) to dete...
research
∙
07/05/2021
A System for Traded Control Teleoperation of Manipulation Tasks using Intent Prediction from Hand Gestures
This paper presents a teleoperation system that includes robot perceptio...
research
∙
04/16/2021
Hierarchical Human-Motion Prediction and Logic-Geometric Programming for Minimal Interference Human-Robot Tasks
In this paper, we tackle the problem of human-robot coordination in sequ...
research
∙
11/23/2020
MoGaze: A Dataset of Full-Body Motions that Includes Workspace Geometry and Eye-Gaze
As robots become more present in open human environments, it will become...
research
∙
07/30/2020
Natural Gradient Shared Control
We propose a formalism for shared control, which is the problem of defin...
research
∙
07/20/2020
Anticipating Human Intention for Full-Body Motion Prediction in Object Grasping and Placing Tasks
Motion prediction in unstructured environments is a difficult problem an...
research
∙
07/09/2020
An Interior Point Method Solving Motion Planning Problems with Narrow Passages
Algorithmic solutions for the motion planning problem have been investig...
research
∙
10/04/2019
Prediction of Human Full-Body Movements with Motion Optimization and Recurrent Neural Networks
Human movement prediction is difficult as humans naturally exhibit compl...
research
∙
06/28/2019
Learning Arbitration for Shared Autonomy by Hindsight Data Aggregation
In this paper we present a framework for the teleoperation of pick-and-p...
research
∙
06/28/2019
Motion Prediction with Recurrent Neural Network Dynamical Models and Trajectory Optimization
Predicting human motion in unstructured and dynamic environments is diff...
research
∙
03/04/2019