semantic_scholarIEEE Robotics and Automation Letters
CHAI – Compliant Human-centered Adaptive Interaction through Diffusion-based Language Trajectory Transformer
Junhui Huang, Xingguang Duan, A. Bucker, Changsheng Li, L. Figueredo
TL;DR: CHAI (Compliant Human-centered Adaptive Interaction), a novel language-driven framework for real-time modulation of a robot’s kinematics and mechanical compliance in real-world environments, introduces on-the-fly language-driven impedance (compliance) modulation along both translational and rotational directions.
We present CHAI (Compliant Human-centered Adaptive Interaction), a novel language-driven framework for real-time modulation of a robot’s kinematics and mechanical compliance in real-world environments. By interpreting natural language instructions and visual context through pre-t…