SYNERGAI: Perception Alignment for Human-Robot Collaboration

Fuente: arXiv

Salvato in:

Dettagli Bibliografici
Autori principali:	Chen, Yixin, Zhang, Guoxi, Zhang, Yaowei, Xu, Hongming, Zhi, Peiyuan, Li, Qing, Huang, Siyuan
Natura:	Preprint
Pubblicazione:	2024
Soggetti:	Robotics
Accesso online:	Acceder al recurso
Tags:	Aggiungi Tag Nessun Tag, puoi essere il primo ad aggiungerne!!

Documenti analoghi

Simultaneous Tactile-Visual Perception for Learning Multimodal Robot Manipulation
di: Li, Yuyang, et al.
Pubblicazione: (2025)

Adversarial Data Collection: Human-Collaborative Perturbations for Efficient and Robust Robotic Imitation Learning
di: Huang, Siyuan, et al.
Pubblicazione: (2025)

Learning a Unified Policy for Position and Force Control in Legged Loco-Manipulation
di: Zhi, Peiyuan, et al.
Pubblicazione: (2025)

Human Leading or Following Preferences: Effects on Human Perception of the Robot and the Human-Robot Collaboration
di: Noormohammadi-Asl, Ali, et al.
Pubblicazione: (2024)

Relevance for Human Robot Collaboration
di: Zhang, Xiaotong, et al.
Pubblicazione: (2024)

From Perception to Symbolic Task Planning: Vision-Language Guided Human-Robot Collaborative Structured Assembly
di: Chen, Yanyi, et al.
Pubblicazione: (2026)

Bayesian Intention for Enhanced Human Robot Collaboration
di: Hernandez-Cruz, Vanessa, et al.
Pubblicazione: (2024)

Human-Robot Collaboration for the Remote Control of Mobile Humanoid Robots with Torso-Arm Coordination
di: Boguslavskii, Nikita, et al.
Pubblicazione: (2025)

PhyScene: Physically Interactable 3D Scene Synthesis for Embodied AI
di: Yang, Yandan, et al.
Pubblicazione: (2024)

Adaptive Vision-Based Control of Redundant Robots with Null-Space Interaction for Human-Robot Collaboration
di: Yan, Xiangjie, et al.
Pubblicazione: (2026)

Non-Overlap-Aware Egocentric Pose Estimation for Collaborative Perception in Connected Autonomy
di: Huang, Hong, et al.
Pubblicazione: (2025)

Relevance-driven Decision Making for Safer and More Efficient Human Robot Collaboration
di: Zhang, Xiaotong, et al.
Pubblicazione: (2024)

Human-Aware Physical Human-Robot Collaborative Transportation and Manipulation with Multiple Aerial Robots
di: Li, Guanrui, et al.
Pubblicazione: (2022)

Implicit Communication of Contextual Information in Human-Robot Collaboration
di: Zhang, Yan
Pubblicazione: (2025)

Collaborative Drill Alignment in Surgical Robotics
di: Larby, Daniel, et al.
Pubblicazione: (2025)

Collaborative Conversation in Safe Multimodal Human-Robot Collaboration
di: Ferrari, Davide, et al.
Pubblicazione: (2024)

Multimodal Reinforcement Learning for Robots Collaborating with Humans
di: Shervedani, Afagh Mehri, et al.
Pubblicazione: (2023)

Human-Robot Gym: Benchmarking Reinforcement Learning in Human-Robot Collaboration
di: Thumm, Jakob, et al.
Pubblicazione: (2023)

Towards Scalable Probabilistic Human Motion Prediction with Gaussian Processes for Safe Human-Robot Collaboration
di: Chong, Jinger, et al.
Pubblicazione: (2026)

Proprioceptive and Exteroceptive Information Perception in a Fabric Soft Robotic Arm via Physical Reservoir Computing with minimal training data
di: Wang, Jun, et al.
Pubblicazione: (2024)

Interactive Motion Planning for Human-Robot Collaboration Based on Human-Centric Configuration Space Ergonomic Field
di: Li, Chenzui, et al.
Pubblicazione: (2025)

Integrating Ergonomics and Manipulability for Upper Limb Postural Optimization in Bimanual Human-Robot Collaboration
di: Li, Chenzui, et al.
Pubblicazione: (2025)

Efficient Collaborative Navigation through Perception Fusion for Multi-Robots in Unknown Environments
di: Lin, Qingquan, et al.
Pubblicazione: (2024)

CU-Multi: A Dataset for Multi-Robot Collaborative Perception
di: Albin, Doncey, et al.
Pubblicazione: (2025)

LLM-Guided Safety Agent for Edge Robotics with an ISO-Compliant Perception-Compute-Control Architecture
di: Huang, Xu, et al.
Pubblicazione: (2026)

Media Framing Moderates Risk-Benefit Perceptions and Value Tradeoffs in Human-Robot Collaboration
di: Brauner, Philipp, et al.
Pubblicazione: (2026)

DTRT: Enhancing Human Intent Estimation and Role Allocation for Physical Human-Robot Collaboration
di: Liu, Haotian, et al.
Pubblicazione: (2025)

IDAGC: Adaptive Generalized Human-Robot Collaboration via Human Intent Estimation and Multimodal Policy Learning
di: Liu, Haotian, et al.
Pubblicazione: (2025)

Robotic Control for Human–Robot Collaborative Assembly Based on Digital Human Model and Reinforcement Learning
di: Bitao Yao, et al.
Pubblicazione: (2026)

Joint Prediction of Human Motions and Actions in Human-Robot Collaboration
di: Bulanti, Alessandra, et al.
Pubblicazione: (2026)

Implicit Communication in Human-Robot Collaborative Transport
di: Yang, Elvin, et al.
Pubblicazione: (2025)

OmniTrack: General Motion Tracking via Physics-Consistent Reference
di: Li, Yuhan, et al.
Pubblicazione: (2026)

Multi-agent Collaborative Perception for Robotic Fleet: A Systematic Review
di: Singh, Apoorv, et al.
Pubblicazione: (2024)

To Lead or to Follow? Adaptive Robot Task Planning in Human-Robot Collaboration
di: Noormohammadi-Asl, Ali, et al.
Pubblicazione: (2024)

Super LiDAR Intensity for Robotic Perception
di: Gao, Wei, et al.
Pubblicazione: (2025)

Explicit World Models for Reliable Human-Robot Collaboration
di: Kwok, Kenneth, et al.
Pubblicazione: (2026)

HMCF: A Human-in-the-loop Multi-Robot Collaboration Framework Based on Large Language Models
di: Li, Zhaoxing, et al.
Pubblicazione: (2025)

RoHIL: Robust Human-in-the-Loop Robotic Reinforcement Learning Against Illumination Variations
di: Zhang, Shuoqin, et al.
Pubblicazione: (2026)

Ag2x2: Robust Agent-Agnostic Visual Representations for Zero-Shot Bimanual Manipulation
di: Xiong, Ziyin, et al.
Pubblicazione: (2025)

Compliant Blind Handover Control for Human-Robot Collaboration
di: Ferrari, Davide, et al.
Pubblicazione: (2024)

if (filemtime($filename) + $maxlifetime < time()) { unlink($filename); $count++; } } return $count; } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ protected function saveSession($sessId, $data): bool { $sessFile = $this->path . '/sess_' . $sessId; if ($handle = fopen($sessFile, 'w')) { $return = false; // Lock the file for exclusive access to avoid issues with multiple // processes writing session simultaneously: if (flock($handle, LOCK_EX)) { $return = fwrite($handle, $data); // Make sure that there's no trailing data by truncating the file to // the correct length: ftruncate($handle, strlen($data)); fflush($handle); flock($handle, LOCK_UN); } fclose($handle); if ($return !== false) { return true; } } // If we got this far, something went wrong with the file output... // It is tempting to throw an exception here, but this code is called // outside of the context of exception handling, so all we can do is // echo a message.

// Anecdotal testing Today and Yesterday seems to indicate destroy() // is called by the garbage collector and everything is good. // Something to keep in mind though. return 0; } /** * Write function that is called when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ public function write($sessId, $data): bool { if ($this->writesDisabled) { return true; } return $this->saveSession($sessId, $data); } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ abstract protected function saveSession($sessId, $data): bool; }

* * @return void */ public function writeClose() { // The assumption is that we're using PHP's ext/session. // session_write_close() will actually overwrite $_SESSION with an // empty array on completion -- which leads to a mismatch between what // is in the storage object and $_SESSION. To get around this, we // temporarily reset $_SESSION to an array, and then re-link it to // the storage object. // // Additionally, while you _can_ write to $_SESSION following a // session_write_close() operation, no changes made to it will be // flushed to the session handler. As such, we now mark the storage // object isImmutable. $storage = $this->getStorage(); if (! $storage->isImmutable()) { $_SESSION = $storage->toArray(true); session_write_close(); $storage->fromArray($_SESSION); $storage->markImmutable(); } } /** * Attempt to set the session name * * If the session has already been started, or if the name provided fails * validation, an exception will be raised. * * @param string $name * @return SessionManager * @throws Exception\InvalidArgumentException */ public function setName($name) { if ($this->sessionExists()) { throw new Exception\InvalidArgumentException( 'Cannot set session name after a session has already started'

Environment & details:

GET Data empty

POST Data empty

Files empty

Key	Value
ui	"standard"
language	"it"
VUFIND_SESSION	"a5738a277746488b1f7aefb35f6d1152"

Session

Key	Value
__Laminas	array:2 [`"_REQUEST_ACCESS_TIME" => 1790843711.2147 "_VALID" => array:1 [ "Laminas\Session\Validator\Id" => "a5738a277746488b1f7aefb35f6d1152" ]`]
SessionState	Laminas\Stdlib\ArrayObject {#938}
FlashMessenger	Laminas\Stdlib\ArrayObject {#1433}
SessionHelper	Laminas\Stdlib\ArrayObject {#1759}

Server/Request Data

Key	Value
REDIRECT_VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
REDIRECT_HTTPS	"on"
REDIRECT_SSL_TLS_SNI	"info.umar.mx"
REDIRECT_STATUS	"200"
VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
HTTPS	"on"
SSL_TLS_SNI	"info.umar.mx"
HTTP_ACCEPT	"/"
HTTP_USER_AGENT	"Mozilla/5.0 AppleWebKit/537.36 (KHTML, like Gecko; compatible; ClaudeBot/1.0; +claudebot@anthropic.com)"
HTTP_COOKIE	"ui=standard; language=it; VUFIND_SESSION=a5738a277746488b1f7aefb35f6d1152"
HTTP_ACCEPT_ENCODING	"gzip, br, zstd, deflate"
HTTP_HOST	"info.umar.mx"
PATH	"/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/snap/bin"
SERVER_SIGNATURE	"<address>Apache/2.4.66 (Ubuntu) Server at info.umar.mx Port 443</address>\n"
SERVER_SOFTWARE	"Apache/2.4.66 (Ubuntu)"
SERVER_NAME	"info.umar.mx"
SERVER_ADDR	"200.23.222.19"
SERVER_PORT	"443"
REMOTE_ADDR	"216.73.216.147"
DOCUMENT_ROOT	"/usr/local/vufind/public"
REQUEST_SCHEME	"https"
CONTEXT_PREFIX	""
CONTEXT_DOCUMENT_ROOT	"/usr/local/vufind/public"
SERVER_ADMIN	"admin@localhost"
SCRIPT_FILENAME	"/usr/local/vufind/public/index.php"
REMOTE_PORT	"57130"
REDIRECT_URL	""" /Record/\n arxiv_https___arxiv_org_abs_2409_15684/Similar """
GATEWAY_INTERFACE	"CGI/1.1"
SERVER_PROTOCOL	"HTTP/1.1"
REQUEST_METHOD	"GET"
QUERY_STRING	""
REQUEST_URI	"/Record/%0Aarxiv_https___arxiv_org_abs_2409_15684/Similar"
SCRIPT_NAME	"/index.php"
PHP_SELF	"/index.php"
REQUEST_TIME_FLOAT	1790843711.2098
REQUEST_TIME	1790843711

Environment Variables empty

Registered Handlers

0. Whoops\Handler\PrettyPageHandler