Exploring Role Allocation in Human-Robot Co-Manipulation
ICRA 2024 Full-Day Workshop on May 13th
North G1, PACIFICO Yokohama
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We are delighted to announce that this workshop is with the sponsorship from NOKOV Ltd.
本次论坛由中国自动化学会智能自动化专委会协办
This workshop is co-sponsored by the Chinese Association of Automation, Intelligent Automation Professional Committee
ABSTRACT
ABSTRACT
We are experiencing a paradigm shift where robots are becoming increasingly humanized, aiming for a future where human and robot co-exists. However, in comparison to industrial settings, the human environment is often unstructured and subject to changes. Moreover, some manipulation task is expected to have direct physical interaction with a human. In contrast to traditional manipulation where objects can be assumed rigid, objects in the human environment are often soft and deformable: bed sheets, clothes, and towels to name a few. To tackle these challenges, we have to consider humans when designing the manipulation policy, which brings us to the important topic of human-robot co-manipulation. In co-manipulation, humans can assume different roles: learners, teachers, evaluators, collaborators, etc. This workshop focuses on analyzing the different roles between humans and robots in co-manipulation and developing robotic systems that can interact and collaborate seamlessly with humans in various real-world scenarios. We aim to provide a holistic, integrated, and interdisciplinary perspective towards human-robot collaborative manipulation. Hence we will invite roboticists from diverse backgrounds to discuss, interact, and debate on pressing challenges, so as to pave the way to advance the field of research.
PROGRAM
PROGRAM
10:00 - 10:10 Opening remarks
Perspectives Session (Speakers from Asia, Europe and America) - Chair: Prof. Xiang Li
10:10-10:40 Prof. Huaping Liu: Trust-aware human-robot collaboration
10:40-11:10 Prof. Yiannis Demiris: Challenges in proactive and trustworthy assistive robotics
11:10-11:40 Priya Sundaresan (Prof. Dorsa Sadigh): Intuitive Interfaces for Interactive Imitation Learning
11:40-12:10 Prof. Tomohiro Shibata: Dressing Assistance Robotics for Elderly Care through Human-Robot Interaction
12:10-12:30 Poster Spotlight talk - Chair: Prof. David Navarro-Alarcon
12:30-13:30 Lunch Break
Robot Learning for Co-Manipulation - Chair: Prof. Zackory Erickson
13:30-14:00 Prof. Jens Kober: Teaching Robots Through Interactions
14:00-14:30 Prof. Abderrahmane Kheddar: Humanoid-human co-manipulation
14:30-15:00 Prof. Rong Xiong: Integrating Human-Robot Intelligence for Open World Tasks
15:00-15:30 Coffee Break and Poster, Video/Demo Parallel Sessions
Humanoid-Human Co-Manipulation & AI-Enabled Skill Adaptation - Chair: Prof. Claire Dune
15:30-16:00 Prof. Fei Chen: Learning Physical Human and Robot Collaboration from Embodied Human-Human Demonstrations
16:00-16:30 Prof. Masashi Konyo: Haptic feedback based on human tactile characteristics for remote manipulation
16:30-17:00 Prof. Yang Cong: Robot Embodied Artificial Intelligence and Manipulation Skill Generalization
17:00-17:30 Panel Discussion - Chair: Prof. Bin Fang
17:30-17:40 Closing remarks + best presentation award
SPEAKERS (alphabetical order)
SPEAKERS (alphabetical order)
Fei Chen - Assistant Professor, CUHK, Hong Kong SAR, China
Yang Cong - Professor, South China University of Technology, China
Yiannis Demiris - Professor, Imperial College London, the UK
Abderrahmane Kheddar - Director of Research, CNRS, France
Jens Kober - Associate Professor, TU Delft, the Netherlands
Masashi Konyo - Associate Professor, Tohoku University, Japan
Huaping Liu - Professor, Tsinghua University, China
Rong Xiong - Professor, Zhejiang University, China
Dorsa Sadigh - Assistant Professor, Stanford University, the US
Tomohiro Shibata - Professor, Kyushu Institute of Technology, Japan
Call for Posters:
Call for Posters:
Topics of interest:
Perception and understanding of human behaviours
Adaptation and flexible manipulation
Safe and natural interaction
Robots learning from humans
Humans learning from robots
Ethical and social considerations
Fail-safe strategies
Intuitive collaborative Interfaces for co-manipulation
Collaborative dexterous manipulation
Researchers interested in presenting their work during the workshop can submit an extended abstract in standard IEEE conference template, 2 pages. Please note that it is possible to use material that has already been presented in a previous conference. Abstracts will be reviewed by the organizers.
Extended abstracts should be submitted by e-mail to:
jihong.zhu@york.ac.uk
Authors of accepted abstracts will have to prepare a poster and present it in person during the workshop.
Important dates
Important dates
Abstract submission deadline (AOE): April 13th, 2024
Notification of acceptance: April 20th, 2024
Presentation instructions
Presentation instructions
Selected finalists will have to prepare a 1-slide presentation to briefly present their contribution during the spotlight talks session and also prepare an A0 poster in portrait orientation to be presented during the "Poster Session".
Poster presenters will prepare an A0 poster in portrait orientation to be presented during the "Poster Session".
Accepted posters
Accepted posters
Interactive Knowledge Disambiguation with Language-guided Manipulation for Robotic Grasping
Safe and Individualized Motion Planning for Upper-limb Exoskeleton Robots Using Human Demonstration and Interactive Learning
SInViG: A Self-Evolving Interactive Visual Agent for Human-Robot Interaction (finalists)
FFHClutteredGrasping: Comprehensive Multi-Modal Dataset of Multi-Fingered Robotic Hand Grasping in Cluttered Environments
TeleCoop-FIC: A Novel Dual-Arm Adaptable Impedance Control for Human-Robot Tele-Cooperation
An Easy-to-use Motor Function Analysis System Based on Binocular Vision and Dual-stream Architecture (finalists)
Towards Role Allocation in Human-Robot Co-Manipulation for Ultrasound Imaging
LLM-BT: Performing Robotic Adaptive Tasks based on Large Language Models and Behavior Trees
Rafiki: An Efficient and Precise Teleoperated Exoskeleton with Homo-Hetero Mode
Mode Switching Strategy of HRI in Sequential Manipulation Tasks for Industry 5.0
Reactive Human-Robot Collaborative Manipulation of Deformable Linear Objects Using a New Topological Latent Control Model
Behavior Tree Generation using Large Language Models for Sequential Manipulation Planning with Human Instructions and Feedback
Dual-Arm Robot Task Learning through Teleoperation using Compliant Motion Primitives
Human-Robot Co-Transportation with Human Uncertainty-Aware MPC and Pose Optimization (finalists)
ORGANIZERS
ORGANIZERS
Jihong Zhu, Lecturer (Assistant Professor), University of York, the UK.
Xiang Li, Associate Professor, Tsinghua University, China
Bin Fang, Professor, Beijing University of Posts and Telecommunications, China
Zackory Erickson, Assistant Professor, CMU, US
Claire Dune, Associate Professor, University of Toulon, France
David Navarro-Alarcon, Associate Professor, The Hong Kong Polytechnic University, Hong Kong
ACKNOWLEDGEMENTS
ACKNOWLEDGEMENTS
The workshop is endorsed by the following IEEE RAS Technical Committees:
IEEE RAS Technical Committee on Collaborative Automation for Flexible Manufacturing
EEE Robotics and Automation Society’s Technical Committee on Human-Robot Interaction & Coordination
And Supported by NOKOV Ltd.
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