Service Robot

[ICRA19] Self-Supervised Incremental Learning for Sound Source Localization in Complex Indoor Environment

This paper presents an incremental learning framework for mobile robots localizing the human sound source using a microphone array in a complex indoor environment consisting of multiple rooms. In contrast to conventional approaches that leverage …

[ICRA18] Interactive Robot Knowledge Patching using Augmented Reality

We present a novel Augmented Reality (AR) approach, through Microsoft HoloLens, to address the challenging problems of diagnosing, teaching, and patching interpretable knowledge of a robot. A Temporal And-Or graph (T-AOG) of opening bottles is …

[IROS17] Feeling the Force: Integrating Force and Pose for Fluent Discovery through Imitation Learning to Open Medicine Bottles

Learning complex robot manipulation policies for real-world objects is challenging, often requiring significant tuning within controlled environments. In this paper, we learn a manipulation model to execute tasks with multiple stages and variable …