Related papers: Shared-Control Robotic Manipulation in Virtual Rea…
Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing…
\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…
Across the robotics field, quality demonstrations are an integral part of many control pipelines. However, collecting high-quality demonstration trajectories remains time-consuming and difficult, often resulting in the number of…
Robotic manipulation is essential for the widespread adoption of robots in industrial and home settings and has long been a focus within the robotics community. Advances in artificial intelligence have introduced promising learning-based…
We propose a new approach for interaction in Virtual Reality (VR) using mobile robots as proxies for haptic feedback. This approach allows VR users to have the experience of sharing and manipulating tangible physical objects with remote…
The performance of prediction-based assistance for robot teleoperation degrades in unseen or goal-rich environments due to incorrect or quickly-changing intent inferences. Poor predictions can confuse operators or cause them to change their…
This work presents the design, build, control, and preliminary user data of a locomotion interface called ForceBot. It delivers lower-body haptic interaction in virtual reality (VR), enabling users to walk in VR while interacting with…
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…
This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…
Recent advancements in robotics have underscored the need for effective collaboration between humans and robots. Traditional interfaces often struggle to balance robot autonomy with human oversight, limiting their practical application in…
This paper presents a novel framework enabling end-users to perform the management of complex robotic workplaces using a tablet and augmented reality. The framework allows users to commission the workplace comprising different types of…
Interaction in virtual reality (VR) environments is essential to achieve a pleasant and immersive experience. Most of the currently existing VR applications, lack of robust object grasping and manipulation, which are the cornerstone of…
Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…
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…
Humans engaged in collaborative activities are naturally able to convey their intentions to teammates through multi-modal communication, which is made up of explicit and implicit cues. Similarly, a more natural form of human-robot…
Teleoperation interfaces are essential tools for enabling human control of robotic systems. Although a wide range of interfaces has been developed, a persistent gap remains between the level of performance humans can achieve through these…
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…
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…
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…
This paper addresses the problem of mixed initiative, shared control for master-slave grasping and manipulation. We propose a novel system, in which an autonomous agent assists a human in teleoperating a remote slave arm/gripper, using a…