5 papers · 1 filter
Uncertainty-Aware Intention Prediction for Human-to-Robot Assembly Teleoperation
Fnu Heman, Yixuan Wang, Kolin Xu +6
In assisted teleoperation for human-robot collaboration, accurate intention prediction is critical for enabling timely and reliable robotic assistance during long-horizon manipulat…
Time-aware Motion Planning in Dynamic Environments with Conformal Prediction
Kaier Liang, Licheng Luo, Yixuan Wang +2
Safe navigation in dynamic environments remains challenging due to uncertain obstacle behaviors and the lack of formal prediction guarantees. We propose two motion planning framewo…
Safe Navigation in Dynamic Environments Using Data-Driven Koopman Operators and Conformal Prediction
Kaier Liang, Guang Yang, Mingyu Cai +1
We propose a novel framework for safe navigation in dynamic environments by integrating Koopman operator theory with conformal prediction. Our approach leverages data-driven Koopma…
Bridging Deep Reinforcement Learning and Motion Planning for Model-Free Navigation in Cluttered Environments
Licheng Luo, Mingyu Cai
Deep Reinforcement Learning (DRL) has emerged as a powerful model-free paradigm for learning optimal policies. However, in navigation tasks with cluttered environments, DRL methods…
Hierarchical Deep Learning for Intention Estimation of Teleoperation Manipulation in Assembly Tasks
Mingyu Cai, Karankumar Patel, Soshi Iba +1
In human-robot collaboration, shared control presents an opportunity to teleoperate robotic manipulation to improve the efficiency of manufacturing and assembly processes. Robots a…