Related papers: Morphology-Agnostic Visual Robotic Control
Visual inspection is a crucial yet time-consuming task across various industries. Numerous established methods employ machine learning in inspection tasks, necessitating specific training data that includes predefined inspection poses and…
Ergodic control synthesizes optimal coverage behaviors over spatial distributions for nonlinear systems. However, existing formulations model the robot as a non-volumetric point, whereas in practice a robot interacts with the environment…
Robot navigation methods allow mobile robots to operate in applications such as warehouses or hospitals. While the environment in which the robot operates imposes requirements on its navigation behavior, most existing methods do not allow…
Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…
Real world visual navigation requires robots to operate in unfamiliar, human-occupied dynamic environments. Navigation around humans is especially difficult because it requires anticipating their future motion, which can be quite…
We have developed an algorithm to generate a complete map of the traversable region for a personal assistant robot using monocular vision only. Using multiple taken by a simple webcam, obstacle detection and avoidance algorithms have been…
This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the complete coupled dynamics of the system and…
Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle. A visual servoing…
Mobile robot navigation is typically regarded as a geometric problem, in which the robot's objective is to perceive the geometry of the environment in order to plan collision-free paths towards a desired goal. However, a purely geometric…
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…
Mapless navigation has emerged as a promising approach for enabling autonomous robots to navigate in environments where pre-existing maps may be inaccurate, outdated, or unavailable. In this work, we propose an image-based local…
Tactile sensing plays a key role in robotic manipulation, particularly in tasks like surface inspection. Successful execution requires maintaining contact while accurately tracking object contours. In this work, we propose a Vision-Based…
Humans leverage multiple sensor modalities when interacting with objects and discovering their intrinsic properties. Using the visual modality alone is insufficient for deriving intuition behind object properties (e.g., which of two boxes…
A holistic understanding of object properties across diverse sensory modalities (e.g., visual, audio, and haptic) is essential for tasks ranging from object categorization to complex manipulation. Drawing inspiration from cognitive science…
The ability to display rich facial expressions is crucial for human-like robotic heads. While manually defining such expressions is intricate, there already exist approaches to automatically learn them. In this work one such approach is…
Similar to humans, robots benefit from interacting with their environment through a number of different sensor modalities, such as vision, touch, sound. However, learning from different sensor modalities is difficult, because the learning…
Laparoscope-holding robots can provide surgeons with a stable laparoscopic field of view (FOV) and reduce the burden on human assistants. To maintain an ideal intraoperative FOV, the robot must continuously adjust the laparoscope pose…
Industrial facilities often require periodic visual inspections of key installations. Examining these points of interest is time consuming, potentially hazardous or require special equipment to reach. MAVs are ideal platforms to automate…
An open problem in robotics is that of using vision to identify a robot's own body and the world around it. Many models attempt to recover the traditional C-space parameters. Instead, we propose an alternative C-space by deriving…
The ability to specify robot commands by a non-expert user is critical for building generalist agents capable of solving a large variety of tasks. One convenient way to specify the intended robot goal is by a video of a person demonstrating…