Related papers: Whole-Body Teleoperation for Mobile Manipulation a…
Teleoperation offers a promising solution for enabling hands-on learning in remote education, particularly in environments requiring interaction with real-world equipment. However, such remote experiences can be costly or non-intuitive. To…
Achieving human-like dexterous manipulation remains a major challenge for general-purpose robots. While Vision-Language-Action (VLA) models show potential in learning skills from demonstrations, their scalability is limited by scarce…
Humanoid robots can support human workers in physically demanding environments by performing tasks that require whole-body coordination, such as lifting and transporting heavy objects.These tasks, which we refer to as Dynamic Mobile…
In mobile manipulation (MM), robots can both navigate within and interact with their environment and are thus able to complete many more tasks than robots only capable of navigation or manipulation. In this work, we explore how to apply…
Soft growing robots are proposed for use in applications such as complex manipulation tasks or navigation in disaster scenarios. Safe interaction and ease of production promote the usage of this technology, but soft robots can be…
The paper deals with the well-known problem of teleoperating a robotic arm along six degrees of freedom. The prevailing and most effective approach to this problem involves a direct position-to-position mapping, imposing robotic…
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…
This work presents a teleoperated humanoid robot system that can imitate human motions, walk and turn. To capture human motions, a Microsoft Kinect Depth sensor is used. Unlike the cumbersome motion capture suits, the sensor makes the…
Despite increasing dataset scale and model capacity, robot manipulation policies still struggle to generalize beyond their training distributions. As a result, deploying state-of-the-art policies in new environments, tasks, or robot…
Mobile manipulation is the fundamental challenge for robotics to assist humans with diverse tasks and environments in everyday life. However, conventional mobile manipulation approaches often struggle to generalize across different tasks…
Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths, while enabling personalized execution of a task. However, for new soft robots with degrees of freedom dissimilar to those of human operators, it is…
Teleoperation can transfer human perception and cognition to a slave robot to cope with some complex tasks, in which the agility and flexibility of the interface play an important role in mapping human intention to the robot. In this paper,…
Learning whole-body control for locomotion and arm motions in a single policy has challenges, as the two tasks have conflicting goals. For instance, efficient locomotion typically favors a horizontal base orientation, while end-effector…
Whole-body manipulation is a powerful yet underexplored approach that enables robots to interact with large, heavy, or awkward objects using more than just their end-effectors. Soft robots, with their inherent passive compliance, are…
Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and…
The autonomous operation of tracked mobile manipulators in rescue missions requires not only ensuring the reachability and safety of robot motion but also maintaining stable end-effector manipulation under diverse task demands. However,…
We present Human to Humanoid (H2O), a reinforcement learning (RL) based framework that enables real-time whole-body teleoperation of a full-sized humanoid robot with only an RGB camera. To create a large-scale retargeted motion dataset of…
Manipulating an environment remotely with a robotic teleoperator introduces novel electromechanical (EM) dynamics between the user and environment. While considerable effort has focused on minimizing these dynamics, there is limited…
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,…
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…