Related papers: OpenVR: Teleoperation for Manipulation
Large policies pretrained on a combination of Internet-scale vision-language data and diverse robot demonstrations have the potential to change how we teach robots new skills: rather than training new behaviors from scratch, we can…
This paper presents a novel teleoperation system with force feedback, utilizing consumer-grade HTC Vive Trackers 2.0. The system integrates a custom-built controller, a UR3 robotic arm, and a Robotiq gripper equipped with custom-designed…
In an effort to lower the barrier to entry in underwater manipulation, this paper presents an open-source, user-friendly framework for bimanual teleoperation of a light-duty underwater vehicle-manipulator system (UVMS). This framework…
Teleoperation is a cornerstone of embodied-robot learning, and bimanual dexterous teleoperation in particular provides rich demonstrations that are difficult to obtain with fully autonomous systems. While recent studies have proposed…
Teleoperation of humanoid robots has long been a challenging domain, necessitating advances in both hardware and software to achieve seamless and intuitive control. This paper presents an integrated solution based on several elements:…
Robotic avatar systems can enable immersive telepresence with locomotion, manipulation, and communication capabilities. We present such an avatar system, based on the key components of immersive 3D visualization and transparent…
Open-world generalization requires robotic systems to have a profound understanding of the physical world and the user command to solve diverse and complex tasks. While the recent advancement in vision-language models (VLMs) has offered…
Hand exoskeletons are critical tools for dexterous teleoperation and immersive manipulation interfaces, but achieving accurate hand tracking remains a challenge due to user-specific anatomical variability and donning inconsistencies. These…
Validating Augmented Reality (AR) tracking and interaction models requires precise, repeatable ground-truth motion. However, human users cannot reliably perform consistent motion due to biomechanical variability. Robotic manipulators are…
As telecommunications technology progresses, telehealth frameworks are becoming more widely adopted in the context of long-term care (LTC) for older adults, both in care facilities and in homes. Today, robots could assist healthcare workers…
Assessing human performance in robotic scenarios such as those seen in telepresence and teleoperation has always been a challenging task. With the recent spike in mixed reality technologies and the subsequent focus by researchers, new…
Model Predictive Control (MPC) schemes have proven their efficiency in controlling high degree-of-freedom (DoF) complex robotic systems. However, they come at a high computational cost and an update rate of about tens of hertz. This…
Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual, limiting the user's…
Advancements in heterogeneous computing technologies enable the significant potential of virtual reality (VR) applications. To offer the best user experience (UX), a system should adopt an untethered, wireless-network-based architecture to…
Teleoperation systems are essential for efficiently collecting diverse and high-quality robot demonstration data, especially for complex, contact-rich tasks. However, current teleoperation platforms typically lack integrated force feedback,…
We present TELESIM, a modular and plug-and-play framework for direct teleoperation of a robotic arm using a digital twin as the interface between the user and the robotic system. We tested TELESIM by performing a user survey with 37…
Remote robotic-assisted endovascular intervention offers a promising approach to reduce clinician radiation exposure and physical strain, while extending specialized vascular care to geographically distant regions. Despite advancements,…
Teleoperation with non-haptic VR controllers deprives human operators of critical motion feedback. We address this by embedding a multi-objective optimization problem that converts user input into collision-free UR5e joint trajectories…
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,…
The deployment of humanoid robots for dexterous manipulation in unstructured environments remains challenging due to perceptual limitations that constrain the effective workspace. In scenarios where physical constraints prevent the robot…