Related papers: Fast Explicit-Input Assistance for Teleoperation i…
Human-Robot collaboration in home and industrial workspaces is on the rise. However, the communication between robots and humans is a bottleneck. Although people use a combination of different types of gestures to complement speech, only a…
In robotic, task goals can be conveyed through various modalities, such as language, goal images, and goal videos. However, natural language can be ambiguous, while images or videos may offer overly detailed specifications. To tackle these…
Teleoperation provides an effective way to collect robot data, which is crucial for learning from demonstrations. In this field, teleoperation faces several key challenges: user-friendliness for new users, safety assurance, and…
Service robots operating in cluttered human environments such as homes, offices, and schools cannot rely on predefined object arrangements and must continuously update their semantic and spatial estimates while dealing with possible…
Intention prediction has become a relevant field of research in Human-Machine and Human-Robot Interaction. Indeed, any artificial system (co)-operating with and along humans, designed to assist and coordinate its actions with a human…
In-hand pivoting is one of the important manipulation skills that leverage robot grippers' extrinsic dexterity to perform repositioning tasks to compensate for environmental uncertainties and imprecise motion execution. Although many…
Haptic feedback can improve safety of teleoperated robots when situational awareness is limited or operators are inattentive. Standard potential field approaches increase haptic resistance as an obstacle is approached, which is desirable…
We address the problem of teleoperating an industrial robot manipulator via a commercially available Virtual Reality (VR) interface. Previous works on VR teleoperation for robot manipulators focus primarily on collaborative or research…
Teleoperation is a valuable tool for robotic manipulators in highly unstructured environments. However, finding an intuitive mapping between a human hand and a non-anthropomorphic robot hand can be difficult, due to the hands' dissimilar…
We present a coarse-to-fine approach based semi-autonomous teleoperation system using vision guidance. The system is optimized for long range teleoperation tasks under time-delay network conditions and does not require prior knowledge of…
Teleoperation presents a promising paradigm for remote control and robot proprioceptive data collection. Despite recent progress, current teleoperation systems still suffer from limitations in efficiency and ergonomics, particularly in…
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…
Despite growing interest in active inference for robotic control, its application to complex, long-horizon tasks remains untested. We address this gap by introducing a fully hierarchical active inference architecture for goal-directed…
Employing a teleoperation system for gathering demonstrations offers the potential for more efficient learning of robot manipulation. However, teleoperating a robot arm equipped with a dexterous hand or gripper, via a teleoperation system…
Intuitive Teleoperation interfaces are essential for mobile manipulation robots to ensure high quality data collection while reducing operator workload. A strong sense of embodiment combined with minimal physical and cognitive demands not…
Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…
Assistive robot manipulators must be able to autonomously pick and place a wide range of novel objects to be truly useful. However, current assistive robots lack this capability. Additionally, assistive systems need to have an interface…
The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…
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…
Wearable and Assistive robotics for human grasp support are broadly either tele-operated robotic arms or act through orthotic control of a paralyzed user's hand. Such devices require correct orientation for successful and efficient…