Related papers: Hybrid Multi-camera Visual Servoing to Moving Targ…
To achieve a dexterous robotic manipulation, we need to endow our robot with tactile feedback capability, i.e. the ability to drive action based on tactile sensing. In this paper, we specifically address the challenge of tactile servoing,…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
AcoustoBots are mobile acoustophoretic robots capable of delivering mid-air haptics, directional audio, and acoustic levitation, but existing implementations rely on scripted commands and lack an intuitive interface for real-time human…
Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…
Capturing the interactions between humans and their environment in 3D is important for many applications in robotics, graphics, and vision. Recent works to reconstruct the 3D human and object from a single RGB image do not have consistent…
Accurate 3D pose estimation of grasped objects is an important prerequisite for robots to perform assembly or in-hand manipulation tasks, but object occlusion by the robot's own hand greatly increases the difficulty of this perceptual task.…
Combining Simultaneous Localisation and Mapping (SLAM) estimation and dynamic scene modelling can highly benefit robot autonomy in dynamic environments. Robot path planning and obstacle avoidance tasks rely on accurate estimations of the…
An increasing number of nonspecialist robotic users demand easy-to-use machines. In the context of visual servoing, the removal of explicit image processing is becoming a trend, allowing an easy application of this technique. This work…
The problem of finding a next best viewpoint for 3D modeling or scene mapping has been explored in computer vision over the last decade. This paper tackles a similar problem, but with different characteristics. It proposes a method for…
We present an embodied AI system which receives open-ended natural language instructions from a human, and controls two arms to collaboratively accomplish potentially long-horizon tasks over a large workspace. Our system is modular: it…
With the development of computer vision, visual odometry is adopted by more and more mobile robots. However, we found that not only its own pose, but the poses of other moving objects are also crucial for the decision of the robot. In…
In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…
This paper studies real-time collaborative robot (cobot) handling, where the cobot maneuvers an object under human dynamic gesture commands. Enabling dynamic gesture commands is useful when the human needs to avoid direct contact with the…
Robust and fast motion estimation and mapping is a key prerequisite for autonomous operation of mobile robots. The goal of performing this task solely on a stereo pair of video cameras is highly demanding and bears conflicting objectives:…
In order to autonomously learn wide repertoires of complex skills, robots must be able to learn from their own autonomously collected data, without human supervision. One learning signal that is always available for autonomously collected…
We present a robot eye-hand coordination learning method that can directly learn visual task specification by watching human demonstrations. Task specification is represented as a task function, which is learned using inverse reinforcement…
Optical flow is a crucial component of the feature space for early visual processing of dynamic scenes especially in new applications such as self-driving vehicles, drones and autonomous robots. The dynamic vision sensors are well suited…
We present AVI-HT, an adaptive visual-IMU fusion approach for tracking 3D hand poses by jointly modeling the egocentric image with on-glove 6-DoF IMU signals. AVI-HT achieves significantly improved accuracy and availability, particularly in…
Human-robot collaboration has benefited users with higher efficiency towards interactive tasks. Nevertheless, most collaborative schemes rely on complicated human-machine interfaces, which might lack the requisite intuitiveness compared…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…