Related papers: EHC-MM: Embodied Holistic Control for Mobile Manip…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…
Scaling mobile manipulation imitation learning is bottlenecked by expensive mobile robot teleoperation. We present Egocentric Mobile MAnipulation (EMMA), an end-to-end framework training mobile manipulation policies from human mobile…
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile…
Cross-embodiment learning seeks to build generalist robots that operate across diverse morphologies, but differences in action spaces and kinematics hinder data sharing and policy transfer. This raises a central question: Is there any…
We present a fully-integrated sensing and control system which enables mobile manipulator robots to execute building tasks with millimeter-scale accuracy on building construction sites. The approach leverages multi-modal sensing…
Mobile manipulation is a fundamental capability for general-purpose robotic agents, requiring both coordinated control of the mobile base and manipulator and robust perception under dynamically changing viewpoints. However, existing…
Complex multibody legged robots can have complex rotational control challenges. In this paper, we propose a concise way to understand and formulate a \emph{whole-body orientation} that (i) depends on system configuration only and not a…
This paper presents a whole-body robot control method for exploring and probing a given region of interest. The ergodic control formalism behind such an exploration behavior consists of matching the time-averaged statistics of a robot…
Assistive electric-powered wheelchairs (EPWs) have become essential mobility aids for people with disabilities such as amyotrophic lateral sclerosis (ALS), post-stroke hemiplegia, and dementia-related mobility impairment. This work presents…
The advancements in embodied AI are increasingly enabling robots to tackle complex real-world tasks, such as household manipulation. However, the deployment of robots in these environments remains constrained by the lack of comprehensive…
Mobile manipulators in the home can enable people with cervical spinal cord injury (cSCI) to perform daily physical household tasks that they could not otherwise do themselves. However, paralysis in these users often limits access to…
Learning a general motion tracking policy from human motions shows great potential for versatile humanoid whole-body control. Conventional approaches are not only inefficient in data utilization and training processes but also exhibit…
We describe a mobile manipulation hardware and software system capable of autonomously performing complex human-level tasks in real homes, after being taught the task with a single demonstration from a person in virtual reality. This is…
The ability to track general whole-body motions in the real world is a useful way to build general-purpose humanoid robots. However, achieving this can be challenging due to the temporal and kinematic diversity of the motions, the policy's…
Leveraging human motion data to impart robots with versatile manipulation skills has emerged as a promising paradigm in robotic manipulation. Nevertheless, translating multi-source human hand motions into feasible robot behaviors remains…
Loco-manipulation is a fundamental challenge for humanoid robots to achieve versatile interactions in human environments. Although recent studies have made significant progress in humanoid whole-body control, loco-manipulation remains…
Regulating contact forces with high precision is crucial for grasping and manipulating fragile or deformable objects. We aim to utilize the dexterity of human hands to regulate the contact forces for robotic hands and exploit human…
Humanoid robots have the potential to help human workers by realizing physically demanding manipulation tasks such as moving large boxes within warehouses. We define such tasks as Dynamic Mobile Manipulation (DMM). This paper presents a…
A novel motion control system for Compliant Framed wheeled Modular Mobile Robots (CFMMR) is studied in this paper. This type of wheeled mobile robot uses rigid axles coupled by compliant frame modules to provide both full suspension and…
Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…