Related papers: Harmonic Mobile Manipulation
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
Mapping is a time-consuming process for deploying robotic systems to new environments. The handling of maps is also risk-adverse when not managed effectively. We propose here, a standardised approach to handling such maps in a manner which…
We present the design and implementation of a taskable reactive mobile manipulation system. In contrary to related work, we treat the arm and base degrees of freedom as a holistic structure which greatly improves the speed and fluidity of…
Large Language Models (LLMs) have demonstrated remarkable planning abilities across various domains, including robotics manipulation and navigation. While recent efforts in robotics have leveraged LLMs both for high-level and low-level…
One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…
Despite its importance in both industrial and service robotics, mobile manipulation remains a significant challenge as it requires a seamless integration of end-effector trajectory generation with navigation skills as well as reasoning over…
Industrial manipulators have extensively collaborated with human operators to execute tasks, e.g., disassembly of end-of-use products, in intelligent remanufacturing. A safety task execution requires real-time path planning for the…
With the advance in robotic hardware and intelligent software, humanoid robot plays an important role in various tasks including service for human assistance and heavy job for hazardous industry. Recent advances in task learning enable…
Hand-drawn maps can be used to convey navigation instructions between humans and robots in a natural and efficient manner. However, these maps can often contain inaccuracies such as scale distortions and missing landmarks which present…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
We present Whole-Body Mobile Manipulation Interface (HoMMI), a data collection and policy learning framework that learns whole-body mobile manipulation directly from robot-free human demonstrations. We augment UMI interfaces with egocentric…
End-to-end robot manipulation policies offer significant potential for enabling embodied agents to understand and interact with the world. Unlike traditional modular pipelines, end-to-end learning mitigates key limitations such as…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
In recent years, reinforcement learning and imitation learning have shown great potential for controlling humanoid robots' motion. However, these methods typically create simulation environments and rewards for specific tasks, resulting in…
Visual navigation tasks are critical for household service robots. As these tasks become increasingly complex, effective communication and collaboration among multiple robots become imperative to ensure successful completion. In recent…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
The main objective of this paper is to provide a tool for performing path planning at the servo level of a mobile robot. The ability to perform, in a provably correct manner, such a complex task at the servo level can lead to a large…
Human navigation is facilitated through the association of actions with landmarks, tapping into our ability to recognize salient features in our environment. Consequently, navigational instructions for humans can be extremely concise, such…
With the rapid development of embodied intelligence, leveraging large-scale human data for high-level imitation learning on humanoid robots has become a focal point of interest in both academia and industry. However, applying humanoid…