39 citations · 109 across the 12 of their papers we have counts for
13 papers · 1 filter
Assisting for Open-Ended Tasks: Goal-Oriented Shared Autonomy as a Particle Filter
Mengxue Fu, Ethan Xu, Sam Iyer-Singh +3
A common approach for shared autonomy blends human inputs with autonomous assistance based on the human's likely goal. However, most existing approaches assume that a static set of…
GeoSACS: Geometric Shared Autonomy via Canal Surfaces
Shalutha Rajapakshe, Atharva Dastenavar, Michael Hagenow +2
We introduce GeoSACS, a geometric framework for shared autonomy (SA). In variable environments, SA methods can be used to combine robotic capabilities with real-time human input in…
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…
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…
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…
Affordance Template Registration via Human-in-the-loop Corrections
Michael Hagenow, Michael Zinn, Terrence Fong +2
Affordance Templates (ATs) are a method for parameterizing objects for autonomous robot manipulations. In this approach, instances of an object are registered by positioning a mode…
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…
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…