Related papers: GraspLook: a VR-based Telemanipulation System with…
We introduce Reality Fusion, a novel robot teleoperation system that localizes, streams, projects, and merges a typical onboard depth sensor with a photorealistic, high resolution, high framerate, and wide field of view (FoV) rendering of…
Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the…
Vision-language Navigation (VLN) tasks require an agent to navigate step-by-step while perceiving the visual observations and comprehending a natural language instruction. Large data bias, which is caused by the disparity ratio between the…
Robotic grasping detection is one of the most important fields in robotics, in which great progress has been made recent years with the help of convolutional neural network (CNN). However, including multiple objects in one scene can…
Grasping is a fundamental task in robot-assisted surgery (RAS), and automating it can reduce surgeon workload while enhancing efficiency, safety, and consistency beyond teleoperated systems. Most prior approaches rely on explicit object…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
Teleoperation is a critical method for human-robot interface, holds significant potential for enabling robotic applications in industrial and unstructured environments. Existing teleoperation methods have distinct strengths and limitations…
Vision-and-language navigation (VLN) enables the agent to navigate to a remote location following the natural language instruction in 3D environments. To represent the previously visited environment, most approaches for VLN implement memory…
Vision-and-Language Navigation (VLN) is a challenging task where an agent must understand language instructions and navigate unfamiliar environments using visual cues. The agent must accurately locate the target based on visual information…
Autonomous vehicle (AV) algorithms need to be tested extensively in order to make sure the vehicle and the passengers will be safe while using it after the implementation. Testing these algorithms in real world create another important…
Execution monitor of high-level robot actions can be effectively improved by visual monitoring the state of the world in terms of preconditions and postconditions that hold before and after the execution of an action. Furthermore a policy…
The teleoperation of complex, kinematically redundant robots with loco-manipulation capabilities represents a challenge for human operators, who have to learn how to operate the many degrees of freedom of the robot to accomplish a desired…
In this paper, we propose a novel framework that allows therapists to teach robot-assisted rehabilitation exercises remotely via RGB-D video. Our system encodes demonstrations as 6-DoF body-centric trajectories using Cartesian Dynamic…
Extended Reality (XR)-aided teleoperation has shown its potential in improving operating efficiency in mission-critical, rich-information and complex scenarios. The multi-sensory XR devices introduce several new types of traffic with unique…
Teleoperation for contact-rich manipulation remains challenging, especially when using low-cost, motion-only interfaces that provide no haptic feedback. Virtual reality controllers enable intuitive motion control but do not allow operators…
Remote control of robotic systems, also known as teleoperation, is crucial for the development of autonomous vehicle (AV) technology. It allows a remote operator to view live video from AVs and, in some cases, to make real-time decisions.…
We propose CARE (Collision Avoidance via Repulsive Estimation) to improve the robustness of learning-based visual navigation methods. Recently, visual navigation models, particularly foundation models, have demonstrated promising…
This work introduces a solution to enhance human-robot interaction over limited wireless connectivity. The goal is toenable remote control of a robot through a virtual reality (VR)interface, ensuring a smooth transition to autonomous mode…
The necessity of maintaining a robust antiterrorist task force has become imperative in recent times with resurgence of rogue element in the society. A well equipped combat force warrants the safety and security of citizens and the…
Virtual fixtures assist human operators in teleoperation settings by constraining their actions. This extended abstract introduces a novel virtual fixture formulation \emph{on surfaces} for tactile robotics tasks. Unlike existing methods,…