56 citations · 288 across the 27 of their papers we have counts for
19 papers · 1 filter
A System for Human-Robot Teaming through End-User Programming and Shared Autonomy
Michael Hagenow, Emmanuel Senft, Robert Radwin +3
Many industrial tasks-such as sanding, installing fasteners, and wire harnessing-are difficult to automate due to task complexity and variability. We instead investigate deploying…
Unlocking the Performance of Proximity Sensors by Utilizing Transient Histograms
Carter Sifferman, Yeping Wang, Mohit Gupta +1
We provide methods which recover planar scene geometry by utilizing the transient histograms captured by a class of close-range time-of-flight (ToF) distance sensor. A transient hi…
Exploring the Use of Collaborative Robots in Cinematography
Pragathi Praveena, Bengisu Cagiltay, Michael Gleicher +1
Robotic technology can support the creation of new tools that improve the creative process of cinematography. It is crucial to consider the specific requirements and perspectives o…
Coordinated Multi-Robot Shared Autonomy Based on Scheduling and Demonstrations
Michael Hagenow, Emmanuel Senft, Nitzan Orr +5
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily…
RangedIK: An Optimization-based Robot Motion Generation Method for Ranged-Goal Tasks
Yeping Wang, Pragathi Praveena, Daniel Rakita +1
Generating feasible robot motions in real-time requires achieving multiple tasks (i.e., kinematic requirements) simultaneously. These tasks can have a specific goal, a range of equ…
A Method For Automated Drone Viewpoints to Support Remote Robot Manipulation
Emmanuel Senft, Michael Hagenow, Pragathi Praveena +4
Drones can provide a minimally-constrained adapting camera view to support robot telemanipulation. Furthermore, the drone view can be automated to reduce the burden on the operator…
Registering Articulated Objects With Human-in-the-loop Corrections
Michael Hagenow, Emmanuel Senft, Evan Laske +6
Remotely programming robots to execute tasks often relies on registering objects of interest in the robot's environment. Frequently, these tasks involve articulating objects such a…
MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets
Constantinos Chamzas, Carlos Quintero-Peña, Zachary Kingston +5
Recently, there has been a wealth of development in motion planning for robotic manipulation new motion planners are continuously proposed, each with their own unique strengths and…
Task-Level Authoring for Remote Robot Teleoperation
Emmanuel Senft, Michael Hagenow, Kevin Welsh +4
Remote teleoperation of robots can broaden the reach of domain specialists across a wide range of industries such as home maintenance, health care, light manufacturing, and constru…
Recognizing Orientation Slip in Human Demonstrations
Michael Hagenow, Bolun Zhang, Bilge Mutlu +2
Manipulations of a constrained object often use a non-rigid grasp that allows the object to rotate relative to the end effector. This orientation slip strategy is often present in…
Situated Live Programming for Human-Robot Collaboration
Emmanuel Senft, Michael Hagenow, Robert Radwin +3
We present situated live programming for human-robot collaboration, an approach that enables users with limited programming experience to program collaborative applications for hum…
Informing Real-time Corrections in Corrective Shared Autonomy Through Expert Demonstrations
Michael Hagenow, Emmanuel Senft, Robert Radwin +3
Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system lever…
Strobe: An Acceleration Meta-algorithm for Optimizing Robot Paths using Concurrent Interleaved Sub-Epoch Pods
Daniel Rakita, Bilge Mutlu, Michael Gleicher
In this paper, we present a meta-algorithm intended to accelerate many existing path optimization algorithms. The central idea of our work is to strategically break up a waypoint p…
Single-query Path Planning Using Sample-efficient Probability Informed Trees
Daniel Rakita, Bilge Mutlu, Michael Gleicher
In this work, we present a novel sampling-based path planning method, called SPRINT. The method finds solutions for high dimensional path planning problems quickly and robustly. It…
CollisionIK: A Per-Instant Pose Optimization Method for Generating Robot Motions with Environment Collision Avoidance
Daniel Rakita, Haochen Shi, Bilge Mutlu +1
In this work, we present a per-instant pose optimization method that can generate configurations that achieve specified pose or motion objectives as best as possible over a sequenc…
Corrective Shared Autonomy for Addressing Task Variability
Michael Hagenow, Emmanuel Senft, Robert Radwin +3
Many tasks, particularly those involving interaction with the environment, are characterized by high variability, making robotic autonomy difficult. One flexible solution is to int…
A Method for Constraint Inference Using Pose and Wrench Measurements
Guru Subramani, Michael Hagenow, Michael Gleicher +1
Many physical tasks such as pulling out a drawer or wiping a table can be modeled with geometric constraints. These geometric constraints are characterized by restrictions on kinem…
Characterizing Input Methods for Human-to-robot Demonstrations
Pragathi Praveena, Guru Subramani, Bilge Mutlu +1
Human demonstrations are important in a range of robotics applications, and are created with a variety of input methods. However, the design space for these input methods has not b…
Inferring geometric constraints in human demonstrations
Guru Subramani, Michael Zinn, Michael Gleicher
This paper presents an approach for inferring geometric constraints in human demonstrations. In our method, geometric constraint models are built to create representations of kinem…