Related papers: Prescient teleoperation of humanoid robots
Shared autonomy teleoperation can guarantee safety, but does so by reducing the human operator's control authority, which can lead to reduced levels of human-robot agreement and user satisfaction. This paper presents a novel haptic shared…
Teleoperation for robot imitation learning is bottlenecked by hardware availability. Can high-quality robot data be collected without a physical robot? We present a system for augmenting Apple Vision Pro with real-time virtual robot…
Robotic surface consisting of many actuators can change shape to perform tasks, such as facilitating human-machine interactions and transporting objects. Increasing the number of actuators can enhance the robot's capacity, but controlling…
When dealing with the haptic teleoperation of multi-limbed mobile manipulators, the problem of mitigating the destabilizing effects arising from the communication link between the haptic device and the remote robot has not been properly…
There is a growing demand for teleoperated robots. This paper presents a novel method for reducing vibration noise generated by robot's own motion, which can disrupt the quality of tactile feedback for teleoperated robots. Our approach…
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…
Robots must move legibly around people for safety reasons, especially for tasks where physical contact is possible. One such task is handovers, which requires implicit communication on where and when physical contact (object transfer)…
Humanoid robots, with their human-like embodiment, have the potential to integrate seamlessly into human environments. Critical to their coexistence and cooperation with humans is the ability to understand natural language communications…
In the rapidly evolving landscape of human-robot collaboration, effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder efficiency.…
Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…
Ambiguity and noise in natural language instructions create a significant barrier towards adopting autonomous systems into safety critical workflows involving humans and machines. In this paper, we propose to build on recent advances in…
Sharing autonomy between robots and human operators could facilitate data collection of robotic task demonstrations to continuously improve learned models. Yet, the means to communicate intent and reason about the future are disparate…
We tackle the problem of developing humanoid loco-manipulation skills with deep imitation learning. The difficulty of collecting task demonstrations and training policies for humanoids with a high degree of freedom presents substantial…
The topic of physical human-robot interaction received a lot of attention from the robotics community because of many promising application domains. However, studying physical interaction between a robot and an external agent, like a human…
Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…
Developing robots that can assist humans efficiently, safely, and adaptively is crucial for real-world applications such as healthcare. While previous work often assumes a centralized system for co-optimizing human-robot interactions, we…
As robots enter human environments, they will be expected to accomplish a tremendous range of tasks. It is not feasible for robot designers to pre-program these behaviors or know them in advance, so one way to address this is through…
When humans control drones, cars, and robots, we often have some preconceived notion of how our inputs should make the system behave. Existing approaches to teleoperation typically assume a one-size-fits-all approach, where the designers…
This paper proposes an architecture for achieving telexistence and teleoperation of humanoid robots. The architecture combines several technological set-ups, methodologies, locomotion and manipulation algorithms in a novel manner, thus…
Teleoperation of beyond-human-scale robotic manipulators (BHSRMs) presents unique challenges that differ fundamentally from conventional human-scale systems. As these platforms gain relevance in industrial domains such as construction,…