6 accepted papers
Robots acting in human environments will often face new situations and can benefit from transferring prior experience. Priors could enable robots to handle new tasks zero-shot and help prevent failures, which can be particularly costly in real robot applications. Due to their interpretable nature, c
Robot failures in human-centered environments are inevitable. Therefore, the ability of robots to explain such failures is paramount for interacting with humans to increase trust and transparency. To achieve this skill, the main challenges addressed in this letter are I) acquiring enough data to lea
Automated planning enables robots to find plans to achieve complex, long-horizon tasks, given a planning domain. This planning domain consists of a list of actions, with their associated preconditions and effects, and is usually manually defined by a human expert, which is very time-consuming or eve…
To act effectively in its environment, a cognitive robot needs to understand the causal dependencies of all intermediate actions leading up to its goal. For example, the system has to infer that it is instrumental to open a cupboard door before trying to grasp an object inside the cupboard. In this…
Capturing realistic human behaviors is essential to learn human models that can later be transferred to robots. Recent improvements in virtual reality (VR) head-mounted displays provide a viable way to collect natural examples of human behavior without the difficulties often associated with capturin…
In this paper, we present the mechatronic design of our Tactile Omnidirectional Robot Manipulator (TOMM), which is a dual arm wheeled humanoid robot with 6DoF on each arm, 4 omnidirectional wheels and 2 switchable end-effectors (1 DoF grippers and 12 DoF Hands). The main feature of TOMM is its arms…