Related papers: Registering Articulated Objects With Human-in-the-…
Robots operating in real-world environments frequently encounter unknown objects with complex structures and articulated components, such as doors, drawers, cabinets, and tools. The ability to perceive, track, and manipulate these objects…
The ability to perform in-hand manipulation still remains an unsolved problem; having this capability would allow robots to perform sophisticated tasks requiring repositioning and reorienting of grasped objects. In this work, we present a…
Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…
Interactive 3D simulated objects are crucial in AR/VR, animations, and robotics, driving immersive experiences and advanced automation. However, creating these articulated objects requires extensive human effort and expertise, limiting…
Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…
Augmented Reality has been subject to various integration efforts within industries due to its ability to enhance human machine interaction and understanding. Neural networks have achieved remarkable results in areas of computer vision,…
We propose a new method for six-degree-of-freedom (6-DoF) autonomous camera movement for minimally invasive surgery, which, unlike previous methods, takes into account both the position and orientation information from structures in the…
In this paper, a mobile camera positioning method based on forward and inverse kinematics of robot is proposed, which can realize far point positioning of imaging position and attitude tracking in large scene enhancement. Orbit precision…
When humans perform contact-rich manipulation tasks, customized tools are often necessary to simplify the task. For instance, we use various utensils for handling food, such as knives, forks and spoons. Similarly, robots may benefit from…
Existing navigation systems mostly consider "success" when the robot reaches within 1m radius to a goal. This precision is insufficient for emerging applications where the robot needs to be positioned precisely relative to an object for…
Close and precise placement of irregularly shaped objects requires a skilled robotic system. The manipulation of objects that have sensitive top surfaces and a fixed set of neighbors is particularly challenging. To avoid damaging the…
In the context of fitness coaching or for rehabilitation purposes, the motor actions of a human participant must be observed and analyzed for errors in order to provide effective feedback. This task is normally carried out by human coaches,…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…
Precise localization with respect to a set of objects of interest enables mobile robots to perform various tasks. With the rise of edge devices capable of deploying deep neural networks (DNNs) for real-time inference, it stands to reason to…
The control of robots for manipulation tasks generally relies on visual input. Recent advances in vision-language models (VLMs) enable the use of natural language instructions to condition visual input and control robots in a wider range of…
Manipulating objects with robotic hands is a complicated task. Not only the fingers of the hand, but also the pose of the robot's end effector need to be coordinated. Using human demonstrations of movements is an intuitive and…
3D modeling of articulated objects is a research problem within computer vision, graphics, and robotics. Its objective is to understand the shape and motion of the articulated components, represent the geometry and mobility of object parts,…
We propose a training-free method, Articulate3D, to pose a 3D asset through language control. Despite advances in vision and language models, this task remains surprisingly challenging. To achieve this goal, we decompose the problem into…
Accurate alignment of multi-degree-of-freedom rehabilitation robots is essential for safe and effective patient training. This paper proposes a two-stage calibration framework for a self-designed three-degree-of-freedom (3-DOF) ankle…