Related papers: GraspLook: a VR-based Telemanipulation System with…
In modern healthcare, the demand for autonomous robotic assistants has grown significantly, particularly in the operating room, where surgical tasks require precision and reliability. Robotic scrub nurses have emerged as a promising…
In this paper, we introduce a novel method to capture visual trajectories for navigating an indoor robot in dynamic settings using streaming image data. First, an image processing pipeline is proposed to accurately segment trajectories from…
Extended Reality (XR) provides a more intuitive interaction method for teleoperating robots compared to traditional 2D controls. Recent studies have laid the groundwork for usable teleoperation with XR, but it fails in tasks requiring rapid…
We present VUNet, a novel view(VU) synthesis method for mobile robots in dynamic environments, and its application to the estimation of future traversability. Our method predicts future images for given virtual robot velocity commands using…
Vision-based locomotion in outdoor environments presents significant challenges for quadruped robots. Accurate environmental prediction and effective handling of depth sensor noise during real-world deployment remain difficult, severely…
In a future with autonomous robots, visual and spatial perception is of utmost importance for robotic systems. Particularly for aerial robotics, there are many applications where utilizing visual perception is necessary for any real-world…
Current capsule endoscopes and next-generation robotic capsules for diagnosis and treatment of gastrointestinal diseases are complex cyber-physical platforms that must orchestrate complex software and hardware functions. The desired tasks…
Virtual reality (VR) teleoperation has emerged as a promising approach for controlling humanoid robots in complex manipulation tasks. However, traditional teleoperation systems rely on inverse kinematics (IK) solvers and hand-tuned PD…
This paper investigates the utility of Neural Radiance Fields (NeRF) models in extending the regions of operation of a mobile robot, controlled by Image-Based Visual Servoing (IBVS) via static CCTV cameras. Using NeRF as a 3D-representation…
Effective human-robot interaction (HRI) in multi-object teleoperation tasks faces significant challenges due to perceptual ambiguities in virtual reality (VR) environments and the limitations of single-modality intention recognition. This…
Teleoperation serves as a powerful method for collecting on-robot data essential for robot learning from demonstrations. The intuitiveness and ease of use of the teleoperation system are crucial for ensuring high-quality, diverse, and…
Robot teleoperation enables human control over robotic systems in environments where full autonomy is challenging. Recent advancements in low-cost teleoperation devices and VR/AR technologies have expanded accessibility, particularly for…
\textbf{BEAVR} is an open-source, bimanual, multi-embodiment Virtual Reality (VR) teleoperation system for robots, designed to unify real-time control, data recording, and policy learning across heterogeneous robotic platforms. BEAVR…
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,…
Telemanipulation of deformable objects requires high precision and dexterity from the users, which can be increased by kinesthetic and tactile feedback. However, the object shape can change dynamically, causing ambiguous perception of its…
Learning to solve precision-based manipulation tasks from visual feedback using Reinforcement Learning (RL) could drastically reduce the engineering efforts required by traditional robot systems. However, performing fine-grained motor…
This paper introduces an emerging motion planning problem by considering a human that is immersed into the viewing perspective of a remote robot. The challenge is to make the experience both effective (such as delivering a sense of…
In this paper, we present a semi-autonomous teleoperation framework for a pick-and-place task using an RGB-D sensor. In particular, we assume that the target object is located in a cluttered environment where both prehensile grasping and…
In this work, we propose two algorithms that can be applied in the context of a networked virtual environment to efficiently handle the interpolation of displacement data for hand-based VR HMDs. Our algorithms, based on the use of…
One of the main open challenges in visual odometry (VO) is the robustness to difficult illumination conditions or high dynamic range (HDR) environments. The main difficulties in these situations come from both the limitations of the sensors…