4 citations · 6 across the 8 of their papers we have counts for
14 papers
Planning Coordinated Human-Robot Motions with Neural Network Full-Body Prediction Models
Philipp Kratzer, Marc Toussaint, Jim Mainprice
Numerical optimization has become a popular approach to plan smooth motion trajectories for robots. However, when sharing space with humans, balancing properly safety, comfort and…
Learning to Arbitrate Human and Robot Control using Disagreement between Sub-Policies
Yoojin Oh, Marc Toussaint, Jim Mainprice
In the context of teleoperation, arbitration refers to deciding how to blend between human and autonomous robot commands. We present a reinforcement learning solution that learns a…
GraspME -- Grasp Manifold Estimator
Janik Hager, Ruben Bauer, Marc Toussaint +1
In this paper, we introduce a Grasp Manifold Estimator (GraspME) to detect grasp affordances for objects directly in 2D camera images. To perform manipulation tasks autonomously it…
A System for Traded Control Teleoperation of Manipulation Tasks using Intent Prediction from Hand Gestures
Yoojin Oh, Marc Toussaint, Jim Mainprice
This paper presents a teleoperation system that includes robot perception and intent prediction from hand gestures. The perception module identifies the objects present in the robo…
Hierarchical Human-Motion Prediction and Logic-Geometric Programming for Minimal Interference Human-Robot Tasks
An T. Le, Philipp Kratzer, Simon Hagenmayer +2
In this paper, we tackle the problem of human-robot coordination in sequences of manipulation tasks. Our approach integrates hierarchical human motion prediction with Task and Moti…
MoGaze: A Dataset of Full-Body Motions that Includes Workspace Geometry and Eye-Gaze
Philipp Kratzer, Simon Bihlmaier, Niteesh Balachandra Midlagajni +3
As robots become more present in open human environments, it will become crucial for robotic systems to understand and predict human motion. Such capabilities depend heavily on the…