Related papers: Prioritized Kinematic Control of Joint-Constrained…
Human vision is a highly active process driven by gaze, which directs attention to task-relevant regions through foveation, dramatically reducing visual processing. In contrast, robot learning systems typically rely on passive, uniform…
Occlusions caused by a robot's own body is a common problem for closed-loop control methods employed in eye-to-hand camera setups. We propose an optimization-based reactive controller that minimizes self-occlusions while achieving a desired…
Gaze stabilization is an important requisite for humanoid robots. Previous work on this topic has focused on the integration of inertial and visual information. Little attention has been given to a third component, which is the knowledge…
Humanoid robots have the potential to mimic human motions with high visual fidelity, yet translating these motions into practical, physical execution remains a significant challenge. Existing techniques in the graphics community often…
Learning goal conditioned control in the real world is a challenging open problem in robotics. Reinforcement learning systems have the potential to learn autonomously via trial-and-error, but in practice the costs of manual reward design,…
Deep robot vision models are widely used for recognizing objects from camera images, but shows poor performance when detecting objects at untrained positions. Although such problem can be alleviated by training with large datasets, the…
This paper introduces an explicit reference governor-based control scheme tailored for addressing the velocity-free spacecraft attitude maneuver problem. This problem is subject to specific constraints, namely the pointing constraint,…
We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the…
This paper aims to address the open problem of designing a globally stable vision-based controller for robot manipulators. Accordingly, based on a hybrid mechanism, this paper proposes a novel task-space control law attained by taking the…
This paper presents a vision guidance and control method for autonomous robotic capture and stabilization of orbital objects in a time-critical manner. The method takes into account various operational and physical constraints, including…
This paper presents a general purpose framework for autonomous, vision-based interception of dynamic, non-cooperative targets, validated across three distinct mobility platforms: an unmanned aerial vehicle (UAV), a four-wheeled ground…
Reward and representation learning are two long-standing challenges for learning an expanding set of robot manipulation skills from sensory observations. Given the inherent cost and scarcity of in-domain, task-specific robot data, learning…
Leveraging auditory and visual feedback for attention reorientation is essential for natural gaze shifts in social interaction. However, enabling humanoid robots to perform natural and context-appropriate gaze shifts in unconstrained…
Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…
This paper considers the final approach phase of visual-closed-loop grasping where the RGB-D camera is no longer able to provide valid depth information. Many current robotic grasping controllers are not closed-loop and therefore fail for…
This article proposes an integrated boresight guidance and control (IBGC) scheme to address the boresight reorientation problem of spacecraft under temporal and pointing constraints. A $C^1$ continuous, saturated prescribed-time adjustment…
In this paper we propose an effective vision-based navigation method that allows a multirotor vehicle to simultaneously reach a desired goal pose in the environment while constantly facing a target object or landmark. Standard techniques…
We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…
Inverse kinematics (IK) is the problem of finding robot joint configurations that satisfy constraints on the position or pose of one or more end-effectors. For robots with redundant degrees of freedom, there is often an infinite, nonconvex…
Imitation learning is an intuitive approach for teaching motion to robotic systems. Although previous studies have proposed various methods to model demonstrated movement primitives, one of the limitations of existing methods is that the…