Related papers: Morphology-Agnostic Visual Robotic Control
Humanoid loco-manipulation in unstructured environments demands tight integration of egocentric perception and whole-body control. However, existing approaches either depend on external motion capture systems or fail to generalize across…
Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…
Robots operating in the real world will experience a range of different environments and tasks. It is essential for the robot to have the ability to adapt to its surroundings to work efficiently in changing conditions. Evolutionary robotics…
This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead of using human-defined cues, the robot automatically learns the features from processed vision data. Our method…
Mirroring the complex structures and diverse functions of natural organisms is a long-standing challenge in robotics. Modern fabrication techniques have greatly expanded the feasible hardware, but using these systems requires control…
Robotic vision plays a major role in factory automation to service robot applications. However, the traditional use of frame-based camera sets a limitation on continuous visual feedback due to their low sampling rate and redundant data in…
Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…
Recent advances in visuomotor policy learning have enabled robots to perform control directly from visual inputs. Yet, extending such end-to-end learning from single-arm to bimanual manipulation remains challenging due to the need for both…
We present a novel vision-based control method to make a group of ground mobile robots achieve a specified formation shape with unspecified size. Our approach uses multiple aerial control units equipped with downward-facing cameras, each…
The dominant visual servoing approaches in Minimally Invasive Surgery (MIS) follow single points or adapt the endoscope's field of view based on the surgical tools' distance. These methods rely on point positions with respect to the camera…
Training visual control policies from scratch on a new robot typically requires generating large amounts of robot-specific data. How might we leverage data previously collected on another robot to reduce or even completely remove this need…
Video is a scalable observation of physical dynamics: it captures how objects move, how contact unfolds, and how scenes evolve under interaction -- all without requiring robot action labels. Yet translating this temporal structure into…
This paper investigates the visual servoing problem for robotic systems with uncertain kinematic, dynamic, and camera parameters. We first present the passivity properties associated with the overall kinematics of the system, and then…
This paper focuses on an adaptive and fault-tolerant vision-guided robotic system that enables to choose the most appropriate control action if partial or complete failure of the vision system in the short term occurs. Moreover, the…
Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic…
Imitation learning is a powerful paradigm for robot skill acquisition, yet conventional demonstration methods--such as kinesthetic teaching and teleoperation--are cumbersome, hardware-heavy, and disruptive to workflows. Recently, passive…
Learning an accurate model of the environment is essential for model-based control tasks. Existing methods in robotic visuomotor control usually learn from data with heavily labelled actions, object entities or locations, which can be…
Imagine sitting at your desk, looking at objects on it. You do not know their exact distances from your eye in meters, but you can immediately reach out and touch them. Instead of an externally defined unit, your sense of distance is tied…
Autonomous robots are currently one of the most popular Artificial Intelligence problems, having experienced significant advances in the last decade, from Self-driving cars and humanoids to delivery robots and drones. Part of the problem is…
The use of robotic technology has drastically increased in manufacturing in the 21st century. But by utilizing their sensory cues, humans still outperform machines, especially in micro scale manufacturing, which requires high-precision…