Related papers: ALOHA 2: An Enhanced Low-Cost Hardware for Bimanua…
Embodied intelligence for contact-rich manipulation has predominantly relied on position control, while explicit awareness and regulation of interaction forces remain under-explored, limiting stability, precision, and robustness in…
Robotic nursing aid is one of the heavily researched areas in robotics nowadays. Several robotic assistants exist that only focus on a specific function related to nurses assistance or functions related to patient aid. There is a need for a…
We evaluate a modification of irregular repetition slotted ALOHA (IRSA) involving intermediate decoding and early transmission termination by some nodes, upon their decoding success. This is meant to avoid unnecessary transmissions, thereby…
Robotic-assisted procedures offer numerous advantages over traditional approaches, including improved dexterity, reduced fatigue, minimized trauma, and superior outcomes. However, the main challenge of these systems remains the poor…
We propose a probabilistic handshake mechanism for all-to-all broadcast coded slotted ALOHA. We consider a fully connected network where each user acts as both transmitter and receiver in a half-duplex mode. Users attempt to exchange…
Variable stiffness actuators undergo lower peak force in contacts compared to their rigid counterparts, and are thus safer for human-robot interaction. Furthermore, they can store energy in their elastic element and can release it later to…
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…
Teleoperation is a crucial tool for collecting human demonstrations, but controlling robots with bimanual dexterous hands remains a challenge. Existing teleoperation systems struggle to handle the complexity of coordinating two hands for…
In-band full-duplex is emerging as a promising solution to enhance throughput in wireless networks. Allowing nodes to simultaneously send and receive data over the same bandwidth can potentially double the system capacity, and a good degree…
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:…
In recent years roboticists have achieved remarkable progress in solving increasingly general tasks on dexterous robotic hardware by leveraging high capacity Transformer network architectures and generative diffusion models. Unfortunately,…
We consider a relay-aided Slotted ALOHA solution for uplink random access for an Optical Wireless Communications (OWC)-based Internet of Things (IoT). The first phase of uplink, the one between IoT devices and the relays, is realized using…
This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware…
This paper introduces SMARTmBOT, an open-source mobile robot platform based on Robot Operating System 2 (ROS2). The characteristics of the SMARTmBOT, including low-cost, modular-typed, customizable and expandable design, make it an easily…
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…
In human-robot collaboration, shared control presents an opportunity to teleoperate robotic manipulation to improve the efficiency of manufacturing and assembly processes. Robots are expected to assist in executing the user's intentions. To…
Humanoid robots hold great promise in assisting humans in diverse environments and tasks, due to their flexibility and adaptability leveraging human-like morphology. However, research in humanoid robots is often bottlenecked by the costly…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
Assistive robotic devices can be used to help people with upper body disabilities gaining more autonomy in their daily life. Although basic motions such as positioning and orienting an assistive robot gripper in space allow performance of…
AI developers often apply safety alignment procedures to prevent the misuse of their AI systems. For example, before Meta released Llama 2-Chat - a collection of instruction fine-tuned large language models - they invested heavily in safety…