Related papers: UMIRobot: An Open-{Software, Hardware} Low-Cost Ro…
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…
This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments. The emerging state of the practice…
Teleoperation is essential for autonomous robot learning, especially in manipulation tasks that require human demonstrations or corrections. However, most existing systems only offer unilateral robot control and lack the ability to…
Quadruped robots are increasingly deployed in unstructured environments. Safe locomotion in these settings requires long-horizon goal progress, passability over uneven terrain and static constraints, and collision avoidance against…
We consider robot learning in the context of shared autonomy, where control of the system can switch between a human teleoperator and autonomous control. In this setting we address reinforcement learning, and learning from demonstration,…
In this paper I describe the design of an introductory course in Human-Robot Interaction. This project-driven course is designed to introduce undergraduate and graduate engineering students, especially those enrolled in Computer Science,…
Imitation learning is a promising approach for learning robot policies with user-provided data. The way demonstrations are provided, i.e., demonstration modality, influences the quality of the data. While existing research shows that…
Open access to publication, software and hardware is central to robotics: it lowers barriers to entry, supports reproducible science and accelerates reliable system development. However, openness also exacerbates the inherent dual-use risks…
In this work, we focus on improving the robot's dexterous capability by exploiting visual sensing and adaptive force control. TeachNet, a vision-based teleoperation learning framework, is exploited to map human hand postures to a…
With the recent advancements in the field of robotics and the increased focus on having general-purpose robots widely available to the general public, it has become increasingly necessary to pursue research into Human-robot interaction…
Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…
Fine manipulation tasks, such as threading cable ties or slotting a battery, are notoriously difficult for robots because they require precision, careful coordination of contact forces, and closed-loop visual feedback. Performing these…
Recent research has demonstrated the potential of reinforcement learning (RL) in enabling effective multi-robot collaboration, particularly in social dilemmas where robots face a trade-off between self-interests and collective benefits.…
Experimentation on real robots is demanding in terms of time and costs. For this reason, a large part of the reinforcement learning (RL) community uses simulators to develop and benchmark algorithms. However, insights gained in simulation…
Robot imitation learning is often hindered by the high cost of collecting large-scale, real-world data. This challenge is especially significant for low-cost robots designed for home use, as they must be both user-friendly and affordable.…
In this study, we introduce an optimization framework aimed at enhancing the efficiency of motion priority design in scenarios involving automated and teleoperated robots within an industrial recovery context. The escalating utilization of…
HomeRobot (noun): An affordable compliant robot that navigates homes and manipulates a wide range of objects in order to complete everyday tasks. Open-Vocabulary Mobile Manipulation (OVMM) is the problem of picking any object in any unseen…
Rehabilitation training for patients with motor disabilities usually requires specialized devices in rehabilitation centers. Home-based multi-purpose training would significantly increase treatment accessibility and reduce medical costs.…
Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulators in various settings. This often leads to suboptimal…
Human-robot interaction is now an established discipline. Dozens of HRI courses exist at universities worldwide, and some institutions even offer degrees in HRI. However, although many students are being taught HRI, there is no agreed-upon…