18 citations · 31 across the 9 of their papers we have counts for
9 papers
Towards Embodiment Scaling Laws in Robot Locomotion
Bo Ai, Liu Dai, Nico Bohlinger +7
Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors remain poorly understood. We investigate embodim…
SiSCo: Signal Synthesis for Effective Human-Robot Communication Via Large Language Models
Shubham Sonawani, Fabian Weigend, Heni Ben Amor
Effective human-robot collaboration hinges on robust communication channels, with visual signaling playing a pivotal role due to its intuitive appeal. Yet, the creation of visually…
iRoCo: Intuitive Robot Control From Anywhere Using a Smartwatch
Fabian C Weigend, Xiao Liu, Shubham Sonawani +3
This paper introduces iRoCo (intuitive Robot Control) - a framework for ubiquitous human-robot collaboration using a single smartwatch and smartphone. By integrating probabilistic…
Projecting Robot Intentions Through Visual Cues: Static vs. Dynamic Signaling
Shubham Sonawani, Yifan Zhou, Heni Ben Amor
Augmented and mixed-reality techniques harbor a great potential for improving human-robot collaboration. Visual signals and cues may be projected to a human partner in order to exp…
Anytime, Anywhere: Human Arm Pose from Smartwatch Data for Ubiquitous Robot Control and Teleoperation
Fabian C Weigend, Shubham Sonawani, Michael Drolet +1
This work devises an optimized machine learning approach for human arm pose estimation from a single smartwatch. Our approach results in a distribution of possible wrist and elbow…
Imitation Learning based Auto-Correction of Extrinsic Parameters for A Mixed-Reality Setup
Shubham Sonawani, Yifan Zhou, Heni Ben Amor
In this paper, we discuss an imitation learning based method for reducing the calibration error for a mixed reality system consisting of a vision sensor and a projector. Unlike a h…
Modularity through Attention: Efficient Training and Transfer of Language-Conditioned Policies for Robot Manipulation
Yifan Zhou, Shubham Sonawani, Mariano Phielipp +2
Language-conditioned policies allow robots to interpret and execute human instructions. Learning such policies requires a substantial investment with regards to time and compute re…
Multimodal Data Fusion for Power-On-and-Go Robotic Systems in Retail
Shubham Sonawani, Kailas Maneparambil, Heni Ben Amor
Robotic systems for retail have gained a lot of attention due to the labor-intensive nature of such business environments. Many tasks have the potential to be automated via intelli…
Assistive Relative Pose Estimation for On-orbit Assembly using Convolutional Neural Networks
Shubham Sonawani, Ryan Alimo, Renaud Detry +3
Accurate real-time pose estimation of spacecraft or object in space is a key capability necessary for on-orbit spacecraft servicing and assembly tasks. Pose estimation of objects i…