Related papers: Scene Editing as Teleoperation: A Case Study in 6D…
Large-scale data is an essential component of machine learning as demonstrated in recent advances in natural language processing and computer vision research. However, collecting large-scale robotic data is much more expensive and slower as…
Recent work introduced the concept of human teleoperation (HT), where the remote robot typically considered in conventional bilateral teleoperation is replaced by a novice person wearing a mixed reality head mounted display and tracking the…
Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity,…
This paper introduces Dynamic Embeddings with Task-Oriented prompting (DETOT), a novel approach aimed at improving the adaptability and efficiency of machine learning models by implementing a flexible embedding layer. Unlike traditional…
Visual inspection of confined spaces such as aircraft wings is ergonomically challenging for human mechanics. This work presents a novel crane robot that can travel the entire span of the aircraft wing, enabling mechanics to perform…
Teleoperated robotic characters can perform expressive interactions with humans, relying on the operators' experience and social intuition. In this work, we propose to create autonomous interactive robots, by training a model to imitate…
We present SceneNAT, a single-stage masked non-autoregressive Transformer that synthesizes complete 3D indoor scenes from natural language instructions through only a few parallel decoding passes, offering improved performance and…
Caregiving of older adults is an urgent global challenge, with many older adults preferring to age in place rather than enter residential care. However, providing adequate home-based assistance remains difficult, particularly in…
This paper develops an autonomous tethered aerial visual assistant for robot operations in unstructured or confined environments. Robotic tele-operation in remote environments is difficult due to lack of sufficient situational awareness,…
Human-in-the-loop manipulation is useful in when autonomous grasping is not able to deal sufficiently well with corner cases or cannot operate fast enough. Using the teleoperator's hand as an input device can provide an intuitive control…
A remote collaboration setup allows an expert to instruct a remotely located novice user to help them with a task. Advanced solutions exist in the field of remote guidance and telemanipulation, however, we lack a device that combines these…
Telerobotic technologies are becoming increasingly essential in fields such as remote surgery, nuclear decommissioning, and space exploration. Reliable datasets and testbeds are essential for evaluating telerobotic system performance prior…
In collaborative human-robot manipulation, a robot must predict human intents and adapt its actions accordingly to smoothly execute tasks. However, the human's intent in turn depends on actions the robot takes, creating a chicken-or-egg…
Task-oriented handovers (TOH) are fundamental to effective human-robot collaboration, requiring robots to present objects in a way that supports the human's intended post-handover use. Existing approaches are typically based on object- or…
Accurate and high-fidelity demonstration data acquisition is a critical bottleneck for deploying robot Imitation Learning (IL) systems, particularly when dealing with heterogeneous robotic platforms. Existing teleoperation systems often…
In this paper, we present TeachNet, a novel neural network architecture for intuitive and markerless vision-based teleoperation of dexterous robotic hands. Robot joint angles are directly generated from depth images of the human hand that…
While teleoperated robots continue to proliferate in domains including search and rescue, field exploration, or the military, human error remains a primary cause for accidents or mistakes. One challenge is that teleoperating a remote robot…
Teleoperation is an important technology to enable supervisors to control agricultural robots remotely. However, environmental factors in dense crop rows and limitations in network infrastructure hinder the reliability of data streamed to…
Spatial attention mechanism has been widely used in semantic segmentation of remote sensing images given its capability to model long-range dependencies. Many methods adopting spatial attention mechanism aggregate contextual information…
Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…