Related papers: Stitching Dynamic Movement Primitives and Image-ba…
Biological sensory systems are inherently adaptive, filtering out constant stimuli and prioritizing relative changes, likely enhancing computational and metabolic efficiency. Inspired by active sensing behaviors across a wide range of…
We aim to develop an efficient programming method for equipping service robots with the skill of performing sign language motions. This paper addresses the problem of transferring complex dual-arm sign language motions characterized by the…
Motor primitives are fundamental building blocks of a controller which enable dynamic robot behavior with minimal high-level intervention. By treating motor primitives as basic "modules," different modules can be sequenced or superimposed…
Learning from humans allows non-experts to program robots with ease, lowering the resources required to build complex robotic solutions. Nevertheless, such data-driven approaches often lack the ability to provide guarantees regarding their…
We introduce Motion-I2V, a novel framework for consistent and controllable image-to-video generation (I2V). In contrast to previous methods that directly learn the complicated image-to-video mapping, Motion-I2V factorizes I2V into two…
Movement Primitives (MPs) are a well-known concept to represent and generate modular trajectories. MPs can be broadly categorized into two types: (a) dynamics-based approaches that generate smooth trajectories from any initial state, e. g.,…
State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…
Robots are increasingly being deployed not only in workplaces but also in households. Effectively execute of manipulation tasks by robots relies on variable impedance control with contact forces. Furthermore, robots should possess adaptive…
Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods either require precise calibration of the robot kinematic model and cameras or use neural…
Dynamic Movement Primitives have successfully been used to realize imitation learning, trial-and-error learning, reinforce- ment learning, movement recognition and segmentation and control. Because of this they have become a popular…
Visuomotor control (VMC) is an effective means of achieving basic manipulation tasks such as pushing or pick-and-place from raw images. Conditioning VMC on desired goal states is a promising way of achieving versatile skill primitives.…
Generating interaction-centric videos, such as those depicting humans or robots interacting with objects, is crucial for embodied intelligence, as they provide rich and diverse visual priors for robot learning, manipulation policy training,…
Visual odometry (VO) is essential for enabling accurate point-goal navigation of embodied agents in indoor environments where GPS and compass sensors are unreliable and inaccurate. However, traditional VO methods face challenges in…
In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…
Vision-based interception using multicopters equipped strapdown camera is challenging due to camera-motion coupling and evasive targets. This paper proposes a method integrating Image-Based Visual Servoing (IBVS) with proportional…
Fast neuromorphic event-based vision sensors (Dynamic Vision Sensor, DVS) can be combined with slower conventional frame-based sensors to enable higher-quality inter-frame interpolation than traditional methods relying on fixed motion…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
Classical Visual Servoing (VS) rely on handcrafted visual features, which limit their generalizability. Recently, a number of approaches, some based on Deep Neural Networks, have been proposed to overcome this limitation by comparing…
How to integrate human factors into the motion planning system is of great significance for improving the acceptance of intelligent vehicles. Decomposing motion into primitives and then accurately and smoothly joining the motion primitives…
Inverse kinematics is a fundamental technique for motion and positioning control in robotics, typically applied to end-effectors. In this paper, we extend the concept of inverse kinematics to guiding vector fields for path following in…