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In this paper, we consider the problem of allocating human operator assistance in a system with multiple autonomous robots. Each robot is required to complete independent missions, each defined as a sequence of tasks. While executing a…
In this paper, we present a method to manipulate unknown objects in-hand using tactile sensing without relying on a known object model. In many cases, vision-only approaches may not be feasible; for example, due to occlusion in cluttered…
Bilateral teleoperation of an aerial manipulator facilitates the execution of industrial missions thanks to the combination of the aerial platform's maneuverability and the ability to conduct complex tasks with human supervision.…
Master control console is a place where robots collaborate with humans in a shared environment. To this end, ergonomics is an important aspect to be considered. With ergonomic design, the surgeons can feel more comfortable to conduct the…
Robotic laparoscopic surgery has gained increasing attention in recent years for its potential to deliver more efficient and precise minimally invasive procedures. However, adoption of surgical robotic platforms remains largely confined to…
Fine-grained, contact-rich teleoperation remains slow, error-prone, and unreliable in real-world manipulation tasks, even for experienced operators. Shared autonomy offers a promising way to improve performance by combining human intent…
Teleoperated robotic characters can perform expressive interactions with humans, relying on the operators' experience and social intuition. In this work, we propose to create autonomous interactive robots, by training a model to imitate…
Pick-and-place is one of the fundamental tasks in robotics research. However, the attention has been mostly focused on the ``pick'' task, leaving the ``place'' task relatively unexplored. In this paper, we address the problem of placing…
Teleoperation of high-precision manipulation is con-strained by tight success tolerances and complex contact dy-namics, which make impending failures difficult for human operators to anticipate under partial observability. This paper…
We propose a teleoperation system that uses a single RGB-D camera as the human motion capture device. Our system can perform general manipulation tasks such as cloth folding, hammering and 3mm clearance peg in hole. We propose the use of…
Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance.…
Robots are increasingly working alongside people, delivering food to patrons in restaurants or helping workers on assembly lines. These scenarios often involve object handovers between the person and the robot. To achieve safe and efficient…
Teleoperation is a popular solution to remotely support highly automated vehicles through a human remote operator whenever a disengagement of the automated driving system is present. The remote operator wirelessly connects to the vehicle…
Dexterous in-hand manipulation is a peculiar and useful human skill. This ability requires the coordination of many senses and hand motion to adhere to many constraints. These constraints vary and can be influenced by the object…
Humans process significantly more information through the sense of touch than through vision. Consequently, haptics for telemanipulation is poised to become essential in the coming years, as it offers operators an additional sensory channel…
We present TASC, a Task-Aware Shared Control framework for teleoperated manipulation that infers task-level user intent and provides assistance throughout the task. To support everyday tasks without predefined knowledge, TASC constructs an…
We propose a human-operator guided planning approach to pushing-based manipulation in clutter. Most recent approaches to manipulation in clutter employs randomized planning. The problem, however, remains a challenging one where the planning…
This paper proposes a common interface for real-time low-level motion planning of collaborative robotic arms, aimed at enabling broader applicability and improved portability across heterogeneous hardware platforms. In previous work, we…
Recent advancements in teleoperation systems have enabled high-quality data collection for robotic manipulators, showing impressive results in learning manipulation at scale. This progress suggests that extending these capabilities to…
Designing robotic tasks for co-manipulation necessitates to exploit not only proprioceptive but also exteroceptive information for improved safety and autonomy. Following such instinct, this research proposes to formulate intuitive robotic…