7 papers · 1 filter
GUIDER: Evaluating Goal-Free Human Intent Inference for Teleoperated Manipulation on Real-Robot Data
Nicholas Kenny, Cesar Alan Contreras, Basile Ouedraogo +3
This paper presents an evaluation of a goal-free probabilistic framework for human intent inference during robotic manipulation. We deploy the Global User Intent Dual-phase Estimat…
Intent-Driven LLM Ensemble Planning for Flexible Multi-Robot Disassembly: Demonstration on EV Batteries
Cansu Erdogan, Cesar Alan Contreras, Alireza Rastegarpanah +2
This paper addresses the problem of planning complex manipulation tasks, in which multiple robots with different end-effectors and capabilities, informed by computer vision, must p…
An Exploratory Study on Crack Detection in Concrete through Human-Robot Collaboration
Junyeon Kim, Tianshu Ruan, Cesar Alan Contreras +1
Structural inspection in nuclear facilities is vital for maintaining operational safety and integrity. Traditional methods of manual inspection pose significant challenges, includi…
Utilizing Vision-Language Models as Action Models for Intent Recognition and Assistance
Cesar Alan Contreras, Manolis Chiou, Alireza Rastegarpanah +2
Human-robot collaboration requires robots to quickly infer user intent, provide transparent reasoning, and assist users in achieving their goals. Our recent work introduced GUIDER,…
Probabilistic Human Intent Prediction for Mobile Manipulation: An Evaluation with Human-Inspired Constraints
Cesar Alan Contreras, Manolis Chiou, Alireza Rastegarpanah +2
Accurate inference of human intent enables human-robot collaboration without constraining human control or causing conflicts between humans and robots. We present GUIDER (Global Us…
A Mini-Review on Mobile Manipulators with Variable Autonomy
Cesar Alan Contreras, Alireza Rastegarpanah, Rustam Stolkin +1
This paper presents a mini-review of the current state of research in mobile manipulators with variable levels of autonomy, emphasizing their associated challenges and application…