7 papers
ACME: A Multi-Cultural, Multi-Embodiment Social-Navigation Dataset
Shashank Rao Marpally, Allan Wang, Atharva Ghotavadekar +35
Understanding how robots and humans move in shared spaces is essential for designing effective social robot navigation policies and predicting human behavior. However, existing dat…
Auditory Localization and Assessment of Consequential Robot Sounds: A Multi-Method Study in Virtual Reality
Marlene Wessels, Jorge de Heuvel, Leon Müller +3
Mobile robots increasingly operate alongside humans but are often out of sight, so that humans need to rely on the sounds of the robots to recognize their presence. For successful…
Immersive Explainability: Visualizing Robot Navigation Decisions through XAI Semantic Scene Projections in Virtual Reality
Jorge de Heuvel, Sebastian Müller, Marlene Wessels +3
End-to-end robot policies achieve high performance through neural networks trained via reinforcement learning (RL). Yet, their black box nature and abstract reasoning pose challeng…
The Impact of VR and 2D Interfaces on Human Feedback in Preference-Based Robot Learning
Jorge de Heuvel, Daniel Marta, Simon Holk +2
Aligning robot navigation with human preferences is essential for ensuring comfortable, and predictable robot movement in shared spaces. While preference-based learning methods, su…
Compact Multi-Object Placement Using Adjacency-Aware Reinforcement Learning
Benedikt Kreis, Nils Dengler, Jorge de Heuvel +3
Close and precise placement of irregularly shaped objects requires a skilled robotic system. The manipulation of objects that have sensitive top surfaces and a fixed set of neighbo…
RHINO-VR Experience: Teaching Mobile Robotics Concepts in an Interactive Museum Exhibit
Erik Schlachhoff, Nils Dengler, Leif Van Holland +4
In 1997, the very first tour guide robot RHINO was deployed in a museum in Germany. With the ability to navigate autonomously through the environment, the robot gave tours to over…
Reactive Correction of Object Placement Errors for Robotic Arrangement Tasks
Benedikt Kreis, Rohit Menon, Bharath Kumar Adinarayan +2
When arranging objects with robotic arms, the quality of the end result strongly depends on the achievable placement accuracy. However, even the most advanced robotic systems are p…